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Robocentric Mapping and Localization in Modified Spherical Coordinates with Bearing Measurements
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-1170-7162
2009 (English)In: 2009 INTERNATIONAL CONFERENCE ON INTELLIGENT SENSORS, SENSOR NETWORKS AND INFORMATION PROCESSING (ISSNIP 2009), NEW YORK: IEEE , 2009, 139-144 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, a new approach to robotic mapping is presented that uses modified spherical coordinates in a robot-centered reference frame and a bearing-only measurement model. The algorithm provided in this paper permits robust delay-free state initialization and is computationally more efficient than the current standard in bearing-only (delay-free initialized) simultaneous localization and mapping (SLAM). Importantly, we provide a detailed nonlinear observability analysis which shows the system is generally observable. We also analyze the error convergence of the filter using stochastic stability analysis. We provide an explicit bound on the asymptotic mean state estimation error. A comparison of the performance of this filter is also made against a standard world-centric SLAM algorithm in a simulated environment.

Place, publisher, year, edition, pages
NEW YORK: IEEE , 2009. 139-144 p.
Keyword [en]
SLAM, CONSISTENCY
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-29189DOI: 10.1109/ISSNIP.2009.5416769ISI: 000283472800023Scopus ID: 2-s2.0-77950943610ISBN: 978-1-4244-3517-3 (print)OAI: oai:DiVA.org:kth-29189DiVA: diva2:393944
Conference
2009 International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP 2009), Melbourne, AUSTRALIA, DEC 07-10, 2009
Note
QC 20110201Available from: 2011-02-01 Created: 2011-01-27 Last updated: 2012-01-10Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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