A Nonlinear Least-Squares Approach to the SLAM Problem
2011 (English)In: Proceedings of the 18th IFAC World Congress, 2011: World Congress, Volume # 18, Part 1 / [ed] Sergio Bittanti, Angelo Cenedese and Sandro Zampieri, IFAC Papers Online, 2011, 4759-4764 p.Conference paper (Refereed)
In this paper we present a solution to the simultaneous localisation and mapping (SLAM) problem using a camera and inertial sensors. Our approach is based on the maximum a posteriori (MAP) estimate of the complete SLAM problem. The resulting problem is posed in a nonlinear least-squares framework which we solve with the Gauss-Newton method. The proposed algorithm is evaluated on experimental data using a sensor platform mounted on an industrial robot. In this way, accurate ground truth is available, and the results are encouraging.
Place, publisher, year, edition, pages
IFAC Papers Online, 2011. 4759-4764 p.
Inertial measurement units, Cameras, Smoothing, Dynamic systems, State estimation
IdentifiersURN: urn:nbn:se:liu:diva-68857DOI: 10.3182/20110828-6-IT-1002.02042ISBN: 978-3-902661-93-7OAI: oai:DiVA.org:liu-68857DiVA: diva2:421456
The 18th IFAC World Congress, 2011, August 28th to Friday September 2nd, Milano, Italy