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Pregled bibliografske jedinice broj: 860129

Simultaneous localization and mapping algorithm based on exactly sparse delayed state filter implemented using Lie groups


Lenac, Kruno; Ćesić, Josip; Cvišić, Igor; Kitanov, Andrej; Seder, Marija; Marković, Ivan; Petrović, Ivan
Simultaneous localization and mapping algorithm based on exactly sparse delayed state filter implemented using Lie groups, 2016. (izvješće).


CROSBI ID: 860129 Za ispravke kontaktirajte CROSBI podršku putem web obrasca

Naslov
Simultaneous localization and mapping algorithm based on exactly sparse delayed state filter implemented using Lie groups

Autori
Lenac, Kruno ; Ćesić, Josip ; Cvišić, Igor ; Kitanov, Andrej ; Seder, Marija ; Marković, Ivan ; Petrović, Ivan

Izvornik
CloudSLAM deliverable D1.2

Vrsta, podvrsta
Ostale vrste radova, izvješće

Godina
2016

Ključne riječi
SLAM, ESDSF, Lie groups

Sažetak
A prominent example of an application where the need for the computational benefits of the IF and the geometric accuracy of Lie groups arises is the simultaneous localization and mapping (SLAM). SLAM is of great practical importance in many robotic and autonomous system applications. Therefore, the extended information filter (EIF) is often employed and widely accepted for SLAM and has reached its zenith with sparsification approaches resulting with sparse EIF (SEIF) and exactly sparse delayed-state filter (ESDF). Here we propose a new state estimation algorithm called the exactly sparse delayed state filter on Lie groups (LG-ESDSF). The proposed filter is inspired by the filtering approaches on Lie groups and exhibits the advantages of the exactly sparse delayed state filter approach with regard to multi-sensor/multi-feature update and decentralization, while keeping the accuracy of stochastic inference on Lie groups. We present the theoretical development and demonstrate its performance on several examples. The results show that the filter achieves higher performance consistency and smaller error by executing SLAM directly on the Lie group.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Andrej Kitanov (autor)

Avatar Url Marija Seder (autor)

Avatar Url Kruno Lenac (autor)

Avatar Url Josip Ćesić (autor)

Avatar Url Ivan Petrović (autor)

Avatar Url Igor Cvišić (autor)

Avatar Url Ivan Marković (autor)


Citiraj ovu publikaciju:

Lenac, Kruno; Ćesić, Josip; Cvišić, Igor; Kitanov, Andrej; Seder, Marija; Marković, Ivan; Petrović, Ivan
Simultaneous localization and mapping algorithm based on exactly sparse delayed state filter implemented using Lie groups, 2016. (izvješće).
Lenac, K., Ćesić, J., Cvišić, I., Kitanov, A., Seder, M., Marković, I. & Petrović, I. (2016) Simultaneous localization and mapping algorithm based on exactly sparse delayed state filter implemented using Lie groups. cloudSLAM deliverable D1.2. Izvješće.
@unknown{unknown, year = {2016}, keywords = {SLAM, ESDSF, Lie groups}, title = {Simultaneous localization and mapping algorithm based on exactly sparse delayed state filter implemented using Lie groups}, keyword = {SLAM, ESDSF, Lie groups} }
@unknown{unknown, year = {2016}, keywords = {SLAM, ESDSF, Lie groups}, title = {Simultaneous localization and mapping algorithm based on exactly sparse delayed state filter implemented using Lie groups}, keyword = {SLAM, ESDSF, Lie groups} }




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