Constructive Observer Design for Visual Simultaneous Localisation and Mapping
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , , , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2020
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866917205798551552 |
|---|---|
| author | van Goor, Pieter Mahony, Robert Hamel, Tarek Trumpf, Jochen |
| author_facet | van Goor, Pieter Mahony, Robert Hamel, Tarek Trumpf, Jochen |
| contents | Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem in robotics with a large range of applications. This paper presents a novel approach to VSLAM by lifting the observer design to a novel Lie group on which the system output is equivariant. The perspective gained from this analysis facilitates the design of a non-linear observer with almost semi-globally asymptotically stable error dynamics. Simulations are provided to illustrate the behaviour of the proposed observer and experiments on data gathered using a fixed-wing UAV flying outdoors demonstrate its performance. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2006_05053 |
| institution | arXiv |
| publishDate | 2020 |
| record_format | arxiv |
| spellingShingle | Constructive Observer Design for Visual Simultaneous Localisation and Mapping van Goor, Pieter Mahony, Robert Hamel, Tarek Trumpf, Jochen Systems and Control Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem in robotics with a large range of applications. This paper presents a novel approach to VSLAM by lifting the observer design to a novel Lie group on which the system output is equivariant. The perspective gained from this analysis facilitates the design of a non-linear observer with almost semi-globally asymptotically stable error dynamics. Simulations are provided to illustrate the behaviour of the proposed observer and experiments on data gathered using a fixed-wing UAV flying outdoors demonstrate its performance. |
| title | Constructive Observer Design for Visual Simultaneous Localisation and Mapping |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2006.05053 |