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Towards Robust Airborne SLAM in Unknown Wind Environments

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Kim, Jonghyuk; Sukkarieh, Salah

Description

This paper presents a robust multi-loop air- borne SLAM structure which augments wind information into the state of 6DoF Simultane- ous Localisation and Mapping (SLAM). The relative air velocity observation from an air data system can be used to estimate

dc.contributor.authorKim, Jonghyuk
dc.contributor.authorSukkarieh, Salah
dc.coverage.spatialSydney Australia
dc.date.accessioned2015-12-13T22:43:10Z
dc.date.createdDecember 5 2005
dc.identifier.isbn0958758379
dc.identifier.urihttp://hdl.handle.net/1885/79082
dc.description.abstractThis paper presents a robust multi-loop air- borne SLAM structure which augments wind information into the state of 6DoF Simultane- ous Localisation and Mapping (SLAM). The relative air velocity observation from an air data system can be used to estimate
dc.publisherAustralian Robotics and Automation Association
dc.relation.ispartofseriesAustralasian Conference on Robotics and Automation (ACRA 2005)
dc.sourceProceedings of the 2005 Australasian Conference on Robotics and Automation
dc.source.urihttp://www.araa.asn.au/acra/acra2005/
dc.source.urihttp://www.araa.asn.au/acra/acra2005/papers/kim_suhkarieh.pdf
dc.subjectKeywords: Air data systems; Air velocities; Error growth; Feature-based; Localisation and mapping; Loop closure; Position errors; Vehicle state; Wind environment; Robotics
dc.titleTowards Robust Airborne SLAM in Unknown Wind Environments
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2005
local.identifier.absfor090904 - Navigation and Position Fixing
local.identifier.absfor091007 - Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)
local.identifier.ariespublicationMigratedxPub7608
local.type.statusPublished Version
local.contributor.affiliationKim, Jonghyuk, College of Engineering and Computer Science, ANU
local.contributor.affiliationSukkarieh, Salah, University of Sydney
local.description.embargo2037-12-31
local.bibliographicCitation.startpage7
dc.date.updated2016-02-24T09:49:27Z
local.identifier.scopusID2-s2.0-84862948645
CollectionsANU Research Publications

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