A geometric nonlinear observer for simultaneous localisation and mapping
Date
2017
Authors
Mahony, Robert
Hamel, Tarek
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Publisher
IEEE
Abstract
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 techniques from observer design for symmetric systems to derive a novel observer for the SLAM problem posed in continuous-time.
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Type
Conference paper
Book Title
2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
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2099-12-31