Bearing-only unscented smoothers for a visual SLAM

Keigo Watanabe, Ryuhei Fukada, Shoichi Maeyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In the conventional SLAM problem, a laser range scanner that can obtain relative angle and distance between a robot and a landmark is used as an external sensor. However, such a sensor is expensive, so that a bearing-only SLAM is studied recently by using a cheap CCD camera. For such a bearing-only SLAM problem, there is a problem that an objective environment has to be measured at multiple distinct poses of the robot, and since there is a lack of information it is also called to be not easy for assuring that the self-position of the robot and the landmarks are estimated with a high accuracy. In this paper, we focus on unscented smoothers that can improve the estimation accuracy for a general SLAM using unscented Kalman filters and apply it to design a bearing-only unscented smoother for a visual SLAM problem. Simulations are presented to check the usefulness of the proposed method.

Original languageEnglish
Title of host publication2015 10th Asian Control Conference
Subtitle of host publicationEmerging Control Techniques for a Sustainable World, ASCC 2015
EditorsHazlina Selamat, Hafiz Rashidi Haruna Ramli, Ahmad Athif Mohd Faudzi, Ribhan Zafira Abdul Rahman, Asnor Juraiza Ishak, Azura Che Soh, Siti Anom Ahmad
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479978625
DOIs
Publication statusPublished - Sept 8 2015
Event10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia
Duration: May 31 2015Jun 3 2015

Publication series

Name2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015

Other

Other10th Asian Control Conference, ASCC 2015
Country/TerritoryMalaysia
CityKota Kinabalu
Period5/31/156/3/15

ASJC Scopus subject areas

  • Control and Systems Engineering

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