Constructive Observer Design for Visual Simultaneous Localisation and Mapping
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.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
A bundle framework for observer design on smooth manifolds with symmetry
The article presents a bundle framework for nonlinear observer design on a manifold with a Lie group action. The group action on the manifold decomposes the manifold to a quotient structure and an orbit space, and the pr…
Synchronous Observer Design for Landmark-Inertial SLAM with Magnetometer and Intermittent GNSS Measurements
In Landmark-Inertial Simultaneous Localisation and Mapping (LI-SLAM), the positions of landmarks in the environment and the robot's pose relative to these landmarks are estimated using landmark position measurements, and…
Nonlinear constructive observer design for direct homography estimation
Feature-based homography estimation approaches rely on extensive image processing for feature extraction and matching, and do not adequately account for the information provided by the image. Therefore, developing effici…
Homography EstimationObserver-based boundary control of distributed port-Hamiltonian systems
An observer-based boundary controller for infinite-dimensional port-Hamiltonian systems defined on 1D spatial domains is proposed. The design is based on an early-lumping approach in which a finite-dimensional approximat…
On the Limits of Pseudo Ground Truth in Visual Camera Re-localisation
Benchmark datasets that measure camera pose accuracy have driven progress in visual re-localisation research. To obtain poses for thousands of images, it is common to use a reference algorithm to generate pseudo ground t…