NDLI: Robust Range-Only SLAM for Unmanned Aerial Systems

Content Provider	Springer Nature Link
Author	Fabresse, Felipe R. Caballero, Fernando Maza, Iván Ollero, Aníbal
Copyright Year	2015
Abstract	Range-only sensors, in contrast to bearing-only sensors or LIDAR sensors are sensors which only provides distance between two points but not bearing information. The reduced amount of information provided by this sensors makes their application in Simultaneous Localization and Mapping (SLAM) problems specially challenging due to the lack of information. The complexity of the problem becomes higher when using noisy range-only sensors like radio-based where the multi-path effect may introduce range outliers, hence reducing the precision of the SLAM solution. Furthermore, the application of Range-only SLAM to aerial systems implies a higher level of complexity due to the introduction to a 3th dimensionality in contrast to ground mobile robots where the altitude dimension is not necessary in most applications. This paper presents an efficient and robust method to the Range-only SLAM (RO-SLAM) problem when applied to aerial vehicles and radio-based range-only measurements. The method is based on a pre-filtering algorithm which is able to detect and remove range outliers and on the application of a reduced parameterization which scales better with 3D RO-SLAM problems. The method is validated with real experiments involving an aerial vehicle and multiple radio-based range-only sensors.
Starting Page	297
Ending Page	310
Page Count	14
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	84
Issue Number	1-4
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2015-12-23
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Simultaneous localization and mapping Range-only Unmanned aerial systems Extended Kalman filter Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in