UM
Status已發表Published
Affiliated with RCfalse
Simultaneous localization and mapping for aerial vehicles: a 3-D sensor-based GAS filter
Pedro Lourenço1; Bruno J. Guerreiro2,4; Pedro Batista1,2; Paulo Oliveira1,3,5; Carlos Silvestre1,4
2015-09-24
Source PublicationAutonomous Robots
ISSN0929-5593
Volume40Issue:5Pages:881-902
Abstract

This paper presents the design, analysis, and experimental validation of a globally asymptotically stable (GAS) filter for simultaneous localization and mapping (SLAM) with application to unmanned aerial vehicles. The main contributions of this paper are the results of global convergence and stability for SLAM in tridimensional (3-D) environments. The SLAM problem is formulated in a sensor-based framework and modified in such a way that the structure may be regarded as linear time-varying for observability purposes, from which a Kalman filter with GAS error dynamics follows naturally. The proposed solution includes the estimation of both body-fixed linear velocity and rate gyro measurement biases. Experimental results from several runs, using an instrumented quadrotor equipped with a RGB-D camera, are included in the paper to illustrate the performance of the algorithm under realistic conditions.

KeywordSimultaneous Localization And Mapping Aerial Robotics 3-d Mapping Sensor Fusion Rgb-d Camera
DOI10.1007/s10514-015-9499-z
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaComputer Science ; Robotics
WOS SubjectComputer Science, Artificial Intelligence ; Robotics
WOS IDWOS:000374253200007
PublisherSPRINGER, VAN GODEWIJCKSTRAAT 30, 3311 GZ DORDRECHT, NETHERLANDS
Fulltext Access
Citation statistics
Cited Times [WOS]:15   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorPedro Lourenço
Affiliation1.Institute for Systems and Robotics, Laboratory of Robotics and Engineering Systems, Lisbon, Portugal
2.Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal
3.LAETA - Associated Laboratory for Energy, Transports and Aeronautics, Institute of Mechanical Engineering, Lisbon, Portugal
4.Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Macau, China
5.Institute of Mechanical Engineering, Associated Laboratory for Energy, Transports and Aeronautics, Lisbon, Portugal
Recommended Citation
GB/T 7714
Pedro Lourenço,Bruno J. Guerreiro,Pedro Batista,et al. Simultaneous localization and mapping for aerial vehicles: a 3-D sensor-based GAS filter[J]. Autonomous Robots,2015,40(5):881-902.
APA Pedro Lourenço,Bruno J. Guerreiro,Pedro Batista,Paulo Oliveira,&Carlos Silvestre.(2015).Simultaneous localization and mapping for aerial vehicles: a 3-D sensor-based GAS filter.Autonomous Robots,40(5),881-902.
MLA Pedro Lourenço,et al."Simultaneous localization and mapping for aerial vehicles: a 3-D sensor-based GAS filter".Autonomous Robots 40.5(2015):881-902.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Pedro Lourenço]'s Articles
[Bruno J. Guerreiro]'s Articles
[Pedro Batista]'s Articles
Baidu academic
Similar articles in Baidu academic
[Pedro Lourenço]'s Articles
[Bruno J. Guerreiro]'s Articles
[Pedro Batista]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Pedro Lourenço]'s Articles
[Bruno J. Guerreiro]'s Articles
[Pedro Batista]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.