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A geometric nonlinear observer for simultaneous localisation and mapping

Mahony, Robert; Hamel, Tarek


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 estimating the location of those landmarks in the environment. This paper introduces a framework in which the landmarks and robot pose can be modelled in a single geometric structure, that of a homogeneous space obtained as the quotient of a novel Lie-group that we term the SLAMn(3) group. Using this formulation we apply...[Show more]

CollectionsANU Research Publications
Date published: 2017
Type: Conference paper
Book Title: 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
DOI: 10.1109/CDC.2017.8264002


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