NDLI: 3 known landmarks are enough for solving planar bearing SLAM and fully reconstruct unknown inputs

Content Provider	IEEE Xplore Digital Library
Author	Belo, F.A.W. Salaris, P. Bicchi, A.
Copyright Year	2010
Description	Author affiliation: Interdepart. Research Center “Enrico Piaggio”, University of Pisa, Via Diotisalvi, 2, 56100, Italy (Belo, F.A.W.; Salaris, P.; Bicchi, A.)
Abstract	In this paper we show that for an observer moving in the plane with no other information than the measurement of relative bearing to three known landmarks, it is possible to completely reconstruct its position and velocity. In particular this applies to the case where no model of the vehicle, nor odometry or acceleration measurements are available. Furthermore, in the same hypotheses, the position of any further landmark can be reconstructed from its bearing only. These results are more general than what is currently known on nonlinear observability of the SLAM problem, which relies on known observer velocities. Our results are also more general than the 2D version of known structure-from-motion observability results, which assume unknown but constant velocities. The proposed method is used to build a nonlinear observer directly applicable to a range of problems from computer vision to autonomous visual navigation.
Starting Page	2539
Ending Page	2545
File Size	1549061
Page Count	7
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5648896
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Observability Vehicles Observers Simultaneous localization and mapping Vehicle dynamics Kinematics Convergence
Content Type	Text
Resource Type	Article

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