Constructive observer design for visual simultaneous localisation and mapping

DOI10.1016/J.AUTOMATICA.2021.109803MaRDI QIDQ2665662zbMATH OpenOpenAlexFDO

Authors Pieter van Goor, Robert Mahony, Tarek Hamel, Jochen Trumpf

Publication date 19 November 2021

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2006.05053

zbMATH Keywords

equivariant observersimultaneous localisation and mapping (SLAM)visual odometry (VO)

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Observers (93B53)

Abstract: Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem in robotics with a large range of applications. This paper presents a novel approach to VSLAM by lifting the observer design to a novel Lie group on which the system output is equivariant. The perspective gained from this analysis facilitates the design of a non-linear observer with almost semi-globally asymptotically stable error dynamics. Simulations are provided to illustrate the behaviour of the proposed observer and experiments on data gathered using a fixed-wing UAV flying outdoors demonstrate its performance.

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Cited in

(7)

• A bundle framework for observer design on smooth manifolds with symmetry
• Gradient-Based Observer for Simultaneous Localization and Mapping
• Observer design for range and orientation identification
• Robust airborne 3D visual simultaneous localization and mapping with observability and consistency analysis
• Visually guided ranging from observations of points, lines and curves via an identifier based nonlinear observer
• A New Observer for Perspective Vision Systems Under Noisy Measurements
• Full-observability analysis and implementation of the general SLAM model

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