NDLI: Sensor-based simultaneous localization and mapping — Part II: Online inertial map and trajectory estimation

Content Provider	IEEE Xplore Digital Library
Author	Guerreiro, B.J. Batista, P. Silvestre, C. Oliveira, P.
Copyright Year	2012
Description	Author affiliation: Inst. for Syst. & Robot., Tech. Univ. of Lisbon, Lisbon, Portugal (Guerreiro, B.J.; Batista, P.; Silvestre, C.; Oliveira, P.)
Abstract	A novel sensor-based filter for simultaneous localization and mapping (SLAM), featuring globally asymptotically stable error dynamics, is proposed in a companion paper, with application to uninhabited aerial vehicles (UAVs). This paper presents the second part of the algorithm, detailing a computationally efficient and numerically robust method for online inertial map and trajectory estimation based on the estimates provided by the SLAM filter previously derived. Central to the solution is the formulation of an optimization problem, that of finding the translation and the rotation that best explain the transformation between two sets of landmarks, with known associations, for consecutive time instants. The validation, performance, and consistency assessment of the proposed SLAM algorithm is successfully performed with real data, which was acquired by an instrumented quadrotor.
Sponsorship	IEEE Control Syst. Soc.
Starting Page	6334
Ending Page	6339
File Size	1079846
Page Count	6
File Format	PDF
ISBN	9781457710957
ISSN	07431619
e-ISBN	9781457710964
e-ISBN	9781467321020
DOI	10.1109/ACC.2012.6315296
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-27
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Vehicles Simultaneous localization and mapping Trajectory Vectors Estimation Closed-form solutions
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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