Simultaneous localization and mapping for aerial vehicles: a 3-D sensor-based GAS filter
This paper presents the design, analysis, and experimental validation of a globally
asymptotically stable (GAS) filter for simultaneous localization and mapping (SLAM) with …
asymptotically stable (GAS) filter for simultaneous localization and mapping (SLAM) with …
Globally exponentially stable Kalman filtering for SLAM with AHRS
TA Johansen, E Brekke - 2016 19th International Conference …, 2016 - ieeexplore.ieee.org
The Simultaneous Localization And Mapping (SLAM) estimation problem using range or
bearing angle sensors is an inherently nonlinear problem due to the nonlinear relationship …
bearing angle sensors is an inherently nonlinear problem due to the nonlinear relationship …
Redesign and analysis of globally asymptotically stable bearing only SLAM
E Bj, TA Johansen - 2017 20th international conference on …, 2017 - ieeexplore.ieee.org
The Simultaneous Localization And Mapping (SLAM) estimation problem is a nonlinear
problem, due to the nature of the range and bearing measurements. In latter years it has …
problem, due to the nature of the range and bearing measurements. In latter years it has …
A globally exponentially stable filter for bearing-only simultaneous localization and mapping with monocular vision
This paper proposes a novel filter for sensor-based bearing-only simultaneous localization
and mapping in three dimensions with globally exponentially stable (GES) error dynamics. A …
and mapping in three dimensions with globally exponentially stable (GES) error dynamics. A …
Uncertainty characterization of the orthogonal procrustes problem with arbitrary covariance matrices
This paper addresses the weighted orthogonal Procrustes problem of matching
stochastically perturbed point clouds, formulated as an optimization problem with a closed …
stochastically perturbed point clouds, formulated as an optimization problem with a closed …
Sensor-based globally exponentially stable range-only simultaneous localization and mapping
This paper proposes the design, analysis, and validation of a globally exponentially stable
(GES) filter for tridimensional (3-D) range-only simultaneous localization and mapping. For …
(GES) filter for tridimensional (3-D) range-only simultaneous localization and mapping. For …
Semiglobally asymptotically stable nonlinear observer for camera aided navigation
This brief presents a nonlinear observer that performs range estimation as well as gyro-bias
estimation by using velocity, angular rate, and bearing angle measurements from landmarks …
estimation by using velocity, angular rate, and bearing angle measurements from landmarks …
Preliminary results on globally asymptotically stable simultaneous localization and mapping in 3-D
This paper presents the design, analysis, performance evaluation, and preliminary
experimental validation of a globally asymptotically stable (GAS) filter for simultaneous …
experimental validation of a globally asymptotically stable (GAS) filter for simultaneous …
Estimating vector magnitude from its direction and derivative, with application to bearing-only SLAM filter problem
E Bjϕrne, TA Johansen… - 2018 IEEE Conference on …, 2018 - ieeexplore.ieee.org
For some problems, such as monocular visual odometry (VO), vector measurements are
given with unknown magnitude. In VO, the magnitude can be found by recognizing features …
given with unknown magnitude. In VO, the magnitude can be found by recognizing features …
Cascade attitude observer for the SLAM filtering problem
E Bj, TA Johansen - 2017 IEEE Conference on Control …, 2017 - ieeexplore.ieee.org
This article presents an attitude observer that exploits both bearing and range
measurements from landmarks, in addition to reference vectors such as magnetometer and …
measurements from landmarks, in addition to reference vectors such as magnetometer and …