NDLI: Motion tracking with fixed-lag smoothing: Algorithm and consistency analysis

Content Provider	IEEE Xplore Digital Library
Author	Tue-Cuong Dong-Si Mourikis, A.I.
Copyright Year	2011
Description	Author affiliation: Dept. of Electrical Engineering, University of California, Riverside, USA (Tue-Cuong Dong-Si; Mourikis, A.I.)
Abstract	This paper presents a fixed-lag smoothing algorithm for tracking the motion of a mobile robot in real time. The algorithm processes measurements from proprioceptive (e.g., odometry, inertial measurement unit) and exteroceptive (e.g., camera, laser scanner) sensors, in order to estimate the trajectory of the vehicle. Smoothing is carried out in the information-filtering framework, and utilizes iterative minimization, which renders the method well-suited for applications where the effects of the measurements' nonlinearity are significant. The algorithm attains bounded computational complexity by marginalizing out older states. The key contribution of this work is a detailed analysis of the effects of the marginalization process on the consistency properties of the estimator. Based on this analysis, a linearization scheme that results in substantially improved accuracy, compared to the standard linearization approach, is proposed. Both simulation and real-world experimental results are presented, which demonstrate that the proposed method attains localization accuracy superior to that of competing approaches.
Starting Page	5655
Ending Page	5662
File Size	469757
Page Count	8
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980267
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Smoothing methods Minimization Cost function Jacobian matrices Estimation Accuracy
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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