A critique of current developments in simultaneous localization and mapping
S Huang, G Dissanayake - International Journal of …, 2016 - journals.sagepub.com
The number of research publications dealing with the simultaneous localization and
mapping problem has grown significantly over the past 15 years. Many fundamental and …
mapping problem has grown significantly over the past 15 years. Many fundamental and …
Convergence and consistency analysis for a 3-D invariant-EKF SLAM
In this letter, we investigate the convergence and consistency properties of an invariant-
extended Kalman filter (RI-EKF) based simultaneous localization and mapping (SLAM) …
extended Kalman filter (RI-EKF) based simultaneous localization and mapping (SLAM) …
An EKF-SLAM algorithm with consistency properties
A Barrau, S Bonnabel - arXiv preprint arXiv:1510.06263, 2015 - arxiv.org
In this paper we address the inconsistency of the EKF-based SLAM algorithm that stems
from non-observability of the origin and orientation of the global reference frame. We prove …
from non-observability of the origin and orientation of the global reference frame. We prove …
An homogeneous space geometry for simultaneous localisation and mapping
Abstract Simultaneous Localisation and Mapping (SLAM) is the archetypal chicken and egg
problem: Localisation of a robot with respect to a map requires an estimate of the map, while …
problem: Localisation of a robot with respect to a map requires an estimate of the map, while …
Exploiting symmetries to design EKFs with consistency properties for navigation and SLAM
The extended Kalman filter (EKF) is both the historical algorithm for multi-sensor fusion and
still state of the art in numerous industrial applications. However, it may prove inconsistent in …
still state of the art in numerous industrial applications. However, it may prove inconsistent in …
A geometric nonlinear observer for simultaneous localisation and mapping
The Simultaneous Localisation and Mapping (SLAM) problem involves estimating the pose
of a robot relative to landmarks observed in the environment while at the same time …
of a robot relative to landmarks observed in the environment while at the same time …
Landmark and imu data fusion: Systematic convergence geometric nonlinear observer for slam and velocity bias
HA Hashim, AEE Eltoukhy - IEEE Transactions on Intelligent …, 2020 - ieeexplore.ieee.org
Navigation solutions suitable for cases when both autonomous robot's pose (ie., attitude and
position) and its environment are unknown are in great demand. Simultaneous Localization …
position) and its environment are unknown are in great demand. Simultaneous Localization …
Equivariant systems theory and observer design
A wide range of system models in modern robotics and avionics applications admit natural
symmetries. Such systems are termed equivariant and the structure provided by the …
symmetries. Such systems are termed equivariant and the structure provided by the …
Constructive observer design for visual simultaneous localisation and mapping
Abstract Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem
in robotics with a large range of applications. This paper presents a novel approach to …
in robotics with a large range of applications. This paper presents a novel approach to …
A geometric observer design for visual localisation and mapping
This paper builds on recent work on Simultaneous Localisation and Mapping (SLAM) in the
non-linear observer community, by framing the visual localisation and mapping problem as …
non-linear observer community, by framing the visual localisation and mapping problem as …