A Minimum Energy Solution to Monocular Simultaneous Localization and Mapping

• Type: Article in International Conference Proceedings Book
• Date: 2011

Authors

Andrea Alessandretti (Author) Other; Antonio Pedro Aguiar (Author) Other; Joao Pedro Hespanha (Author) Other; Paolo Valigi (Author) Other

Conference proceedings International

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

Pages: 4566-4571

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

Orlando, FL, DEC 12-15, 2011

Indexing

ISI Web of Knowledge - 1 Citation

Scopus - 2 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6