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A globally exponentially stable filter for bearing-only simultaneous localization and mapping with monocular vision
Pedro Lourenço1; Pedro Batista1,2; Paulo Oliveira1,3; Carlos Silvestre1,4
2017-11-13
Source PublicationROBOTICS AND AUTONOMOUS SYSTEMS
ISSN0921-8890
Volume100Pages:61-77
Abstract

This paper proposes a novel filter for sensor-based bearing-only simultaneous localization and mapping in three dimensions with globally exponentially stable (GES) error dynamics. A nonlinear system is designed, its output transformed, and its dynamics augmented so that the proposed formulation can be considered as linear time-varying for the purpose of observability analysis. This allows the establishment of observability results related to the original nonlinear system that naturally lead to the design of a Kalman filter with GES error dynamics. The performance of the proposed algorithm is assessed resorting to real experiments based on the Rawseeds dataset as well as further realistic simulations. (C) 2017 Elsevier B.V. All rights reserved.

KeywordSimultaneous Localization And Mapping 3-d Mapping Sensor Fusion Monocular Vision Global Exponential Stability
DOI10.1016/j.robot.2017.11.001
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems ; Computer Science ; Robotics
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics
WOS IDWOS:000423639400006
PublisherELSEVIER SCIENCE BV
The Source to ArticleWOS
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Citation statistics
Cited Times [WOS]:9   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorPedro Lourenço
Affiliation1.Institute for Systems and Robotics, Laboratory for Robotics and Engineering Systems, Portugal
2.Instituto Superior Técnico, Universidade de Lisboa, Av. Rovisco Pais, 1049-001 Lisboa, Portugal
3.Department of Mechanical Engineering, Instituto Superior Técnico, Universidade de Lisboa, Av. Rovisco Pais, 1049-001 Lisboa, Portugal
4.Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Macau
Recommended Citation
GB/T 7714
Pedro Lourenço,Pedro Batista,Paulo Oliveira,et al. A globally exponentially stable filter for bearing-only simultaneous localization and mapping with monocular vision[J]. ROBOTICS AND AUTONOMOUS SYSTEMS,2017,100:61-77.
APA Pedro Lourenço,Pedro Batista,Paulo Oliveira,&Carlos Silvestre.(2017).A globally exponentially stable filter for bearing-only simultaneous localization and mapping with monocular vision.ROBOTICS AND AUTONOMOUS SYSTEMS,100,61-77.
MLA Pedro Lourenço,et al."A globally exponentially stable filter for bearing-only simultaneous localization and mapping with monocular vision".ROBOTICS AND AUTONOMOUS SYSTEMS 100(2017):61-77.
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