Nonlinear Observer Design for Landmark-Inertial Simultaneous Localization and Mapping
Fuente:
arXiv
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866913778461835264 |
|---|---|
| author | Boughellaba, Mouaad Berkane, Soulaimane Tayebi, Abdelhamid |
| author_facet | Boughellaba, Mouaad Berkane, Soulaimane Tayebi, Abdelhamid |
| contents | This paper addresses the problem of Simultaneous Localization and Mapping (SLAM) for rigid body systems in three-dimensional space. We introduce a new matrix Lie group SE_{3+n}(3), whose elements are composed of the pose, gravity, linear velocity and landmark positions, and propose an almost globally asymptotically stable nonlinear geometric observer that integrates Inertial Measurement Unit (IMU) data with landmark measurements. The proposed observer estimates the pose and map up to a constant position and a constant rotation about the gravity direction. Numerical simulations are provided to validate the performance and effectiveness of the proposed observer, demonstrating its potential for robust SLAM applications. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_04239 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Nonlinear Observer Design for Landmark-Inertial Simultaneous Localization and Mapping Boughellaba, Mouaad Berkane, Soulaimane Tayebi, Abdelhamid Systems and Control Robotics This paper addresses the problem of Simultaneous Localization and Mapping (SLAM) for rigid body systems in three-dimensional space. We introduce a new matrix Lie group SE_{3+n}(3), whose elements are composed of the pose, gravity, linear velocity and landmark positions, and propose an almost globally asymptotically stable nonlinear geometric observer that integrates Inertial Measurement Unit (IMU) data with landmark measurements. The proposed observer estimates the pose and map up to a constant position and a constant rotation about the gravity direction. Numerical simulations are provided to validate the performance and effectiveness of the proposed observer, demonstrating its potential for robust SLAM applications. |
| title | Nonlinear Observer Design for Landmark-Inertial Simultaneous Localization and Mapping |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2504.04239 |