A Minimum Energy Solution to Monocular Simultaneous Localization and Mapping

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2011

Autores

Andrea Alessandretti (Autor) Outra; Antonio Pedro Aguiar (Autor) Outra; Joao Pedro Hespanha (Autor) Outra; Paolo Valigi (Autor) Outra

Ata de Conferência Internacional

Título: 2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC)

Páginas: 4566-4571

50th IEEE Conference of Decision and Control (CDC)/European Control Conference (ECC)

Orlando, FL, DEC 12-15, 2011

Indexação

ISI Web of Knowledge - 1 Citação

Scopus - 2 Citações

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

Outras Informações

ID Authenticus: P-002-WE1

DOI: 10.1109/cdc.2011.6160813

Abstract (EN): In this paper we propose an alternative solution to the Monocular Simultaneous Localization and Mapping (SLAM) problem. This approach uses a Minimum-Energy Observer for Systems with Perspective Outputs and provides an optimal solution. Contrarily to the most famous EKF-SLAM algorithm, this method yields a global solution and no linearization procedures are required. Furthermore, we show that the estimation error converges exponentially fast toward a neighborhood of zero, where this region increases gracefully with the magnitude of the input disturbance, output noise and initial camera position uncertainty. For practical purposes, we present also the filter in both continuous and discrete time form. Moreover, to show how to integrate a new landmark in the state estimation, a simple initialization procedure is presented. The filter performances are illustrated via simulations.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6