Resilient Simultaneous Localization and Mapping Fusing Ultra Wide Band Range Measurements and Visual Odometry
In this paper we consider a Simultaneous Localization and Mapping (SLAM) problem for a moving agent using Visual Odometry (VO) while measuring the range from a set of Ultra Wide Band (UWB) antennas, deployed in unknown position in the environment. The solution approach is based on a switching observer which, under standard working conditions, for each observed UWB, uses a two dimensional Extended Kalman Filter (EKF) providing an estimate of the range and bearing of the observed UWB with respect to the agent. This information is then used in a Robust EKF algorithm which solves the SLAM problem with performances that, even before closing the loop, are comparable to the ones that a VO algorithm (namely ORB-SLAM2) would obtain only after closing the loop. Moreover, a resilient module is added to the algorithm to evaluate the reliability of the position estimate of each observed UWB. When the Visual Odometry is not available, the switching observer uses an auxiliary EKF to provide an estimate of the agent position. This makes the proposed approach robust with respect to several kinds of unmodeled disturbances, like multipath effects, and automatically adapts to sensor failures with resilience (e.g. when Visual Odometry or UWB measurements are not available).
Code (0)
등록된 구현이 없습니다.
Tasks
PositionSimultaneous Localization and MappingVisual OdometryMethods 이 논문이 사용한 방법론
Similar Papers 제목 키워드 기반
Simultaneous Calibration and Navigation (SCAN) of Multiple Ultrasonic Local Positioning Systems
This paper proposes a Simultaneous Calibration and Navigation (SCAN) algorithm of a multiple Ultrasonic Local Positioning Systems (ULPSs) that cover an extensive indoor area. The idea is the development of the same conce…
PositionSimultaneous Localization and MappingBeyond the Vehicle: Cooperative Localization by Fusing Point Clouds for GPS-Challenged Urban Scenarios
Accurate vehicle localization is a critical challenge in urban environments where GPS signals are often unreliable. This paper presents a cooperative multi-sensor and multi-modal localization approach to address this iss…
Point Cloud RegistrationPoint CloudsUcoSLAM: Simultaneous Localization and Mapping by Fusion of KeyPoints and Squared Planar Markers
This paper proposes a novel approach for Simultaneous Localization and Mapping by fusing natural and artificial landmarks. Most of the SLAM approaches use natural landmarks (such as keypoints). However, they are unstable…
Simultaneous Localization and MappingLearning-based Bias Correction for Ultra-wideband Localization of Resource-constrained Mobile Robots
Accurate indoor localization is a crucial enabling technology for many robotics applications, from warehouse management to monitoring tasks. Ultra-wideband (UWB) ranging is a promising solution which is low-cost, lightwe…
Indoor LocalizationManagementContinuum Robot Localization using Distributed Time-of-Flight Sensors
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution s…