elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Undelayed Initialization of Inverse Depth Parameterized Landmarks in UKF-SLAM with Error State Formulation

Ammann, Nikolaus Alexander and 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

[img] PDF
798kB

Abstract

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.

Item URL in elib:https://elib.dlr.de/121140/
Document Type:Conference or Workshop Item (Speech)
Title:Undelayed Initialization of Inverse Depth Parameterized Landmarks in UKF-SLAM with Error State Formulation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Ammann, Nikolaus AlexanderNikolaus.Ammann (at) dlr.dehttps://orcid.org/0000-0001-6091-4478
García Mayo, LauraUNSPECIFIEDUNSPECIFIED
Date:July 2018
Journal or Publication Title:2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI :10.1109/AIM.2018.8452375
Page Range:918 -923
ISSN:2159-6255
ISBN:978-1-5386-1854-7
Status:Published
Keywords:Simultaneous Localization And Mapping, SLAM, Unscented Kalman Filter, UKF, Unscented Transform, Inverse Depth Parametrization, Landmark Initialization
Event Title:IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Event Location:Auckland, Neuseeland
Event Type:international Conference
Event Dates:09.-12. Jul 2018
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Projekt ATON
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Ammann, Nikolaus Alexander
Deposited On:02 Oct 2018 11:29
Last Modified:31 Jul 2019 20:18

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.