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 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]
|Collections||ANU Research Publications|
|Book Title:||2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017|
|01_Mahony_A_geometric_nonlinear_observer_2017.pdf||305.46 kB||Adobe PDF||Request a copy|
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