Nalazite se na CroRIS probnoj okolini. Ovdje evidentirani podaci neće biti pohranjeni u Informacijskom sustavu znanosti RH. Ako je ovo greška, CroRIS produkcijskoj okolini moguće je pristupi putem poveznice www.croris.hr
izvor podataka: crosbi !

Generalization of 2D SLAM observability condition (CROSBI ID 575802)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Kitanov, Andrej ; Petrović, Ivan Generalization of 2D SLAM observability condition // Proceedings of 5th European Conference on Mobile Robots (ECMR2011) / Lilienthal, Achim ; Duckett, Tom (ur.). Örebro, 2011. str. 277-282

Podaci o odgovornosti

Kitanov, Andrej ; Petrović, Ivan

engleski

Generalization of 2D SLAM observability condition

In this paper, we deduce general observability condition of all types of SLAM solutions regardless what states they consider directly in estimation, i.e. whether SLAM is feature based or pose (graph) based. This result comes from doing nonlinear observability analysis of the pose-based SLAM. We consider general vehicle motion model whose control inputs are translational and rotational velocity of the vehicle's body, and relative vehicle's pose measurements that come, for example but not necessarily, from stereo camera image registration. We conclude that, for the SLAM to be observable, one vehicle pose must be known apriori, or must be exactly reconstructable from observed features. This approach avoids extra non-singularity conditions, i.e. connection of the localization algorithm and a robot control law in observability analysis. Finally, we demonstrate the theory on the common pose estimation problem solved with the Extended Kalman Filter.

SLAM; nonlinear observability; estimation

nije evidentirano

nije evidentirano

nije evidentirano

nije evidentirano

nije evidentirano

nije evidentirano

Podaci o prilogu

277-282.

2011.

objavljeno

Podaci o matičnoj publikaciji

Proceedings of 5th European Conference on Mobile Robots (ECMR2011)

Lilienthal, Achim ; Duckett, Tom

Örebro:

Podaci o skupu

5th European Conference on Mobile Robots

predavanje

07.09.2011-09.09.2011

Örebro, Švedska

Povezanost rada

Elektrotehnika, Temeljne tehničke znanosti