Ammann, Nikolaus Alexander und García Mayo, Laura (2018) Undelayed Initialization of Inverse Depth Parameterized Landmarks in UKF-SLAM with Error State Formulation. In: 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 918 -923. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 09.-12. Jul 2018, Auckland, Neuseeland. doi: 10.1109/AIM.2018.8452375. ISBN 978-1-5386-1854-7. ISSN 2159-6255.
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Kurzfassung
In this paper we present an approach to combine error state estimation with total state monocular simultaneous localization and mapping (SLAM) in a single Unscented Kalman Filter (UKF). The map features use the inverse depth parametrization for undelayed initialization and for the ability to use low-parallax features with unknown depth information. Furthermore, a new map feature initialization method is presented using the Unscented transform (UT). This method allows to capture all correlations between the map Features and the error state variables without the necessity to calculate any Jacobian matrices.
elib-URL des Eintrags: | https://elib.dlr.de/121140/ | ||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||
Titel: | Undelayed Initialization of Inverse Depth Parameterized Landmarks in UKF-SLAM with Error State Formulation | ||||||||||||
Autoren: |
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Datum: | Juli 2018 | ||||||||||||
Erschienen in: | 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
Open Access: | Ja | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Nein | ||||||||||||
In ISI Web of Science: | Nein | ||||||||||||
DOI: | 10.1109/AIM.2018.8452375 | ||||||||||||
Seitenbereich: | 918 -923 | ||||||||||||
ISSN: | 2159-6255 | ||||||||||||
ISBN: | 978-1-5386-1854-7 | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | Simultaneous Localization And Mapping, SLAM, Unscented Kalman Filter, UKF, Unscented Transform, Inverse Depth Parametrization, Landmark Initialization | ||||||||||||
Veranstaltungstitel: | IEEE/ASME International Conference on Advanced Intelligent Mechatronics | ||||||||||||
Veranstaltungsort: | Auckland, Neuseeland | ||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||
Veranstaltungsdatum: | 09.-12. Jul 2018 | ||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Projekt ATON (alt) | ||||||||||||
Standort: | Braunschweig | ||||||||||||
Institute & Einrichtungen: | Institut für Flugsystemtechnik > Unbemannte Luftfahrzeuge | ||||||||||||
Hinterlegt von: | Ammann, Nikolaus Alexander | ||||||||||||
Hinterlegt am: | 02 Okt 2018 11:29 | ||||||||||||
Letzte Änderung: | 31 Jul 2019 20:18 |
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