Earth-fixed trajectory and map online estimation: Building on GES sensor-based SLAM filters

Detalhes bibliográficos
Autor(a) principal: Lourenço, Pedro
Data de Publicação: 2020
Outros Autores: Guerreiro, Bruno J., Batista, Pedro, Oliveira, Paulo Jorge, Silvestre, Carlos
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10362/106278
Resumo: UID/EEA/00066/2019 PTDC/EEI-AUT/32107/2017 University of Macau Project MYRG2018-00198-FST Grant FDCT/026/2017/A1
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spelling Earth-fixed trajectory and map online estimation: Building on GES sensor-based SLAM filtersMappingPerturbation theoryProcrustes problemRoboticsSLAMControl and Systems EngineeringSoftwareMathematics(all)Computer Science ApplicationsUID/EEA/00066/2019 PTDC/EEI-AUT/32107/2017 University of Macau Project MYRG2018-00198-FST Grant FDCT/026/2017/A1This paper addresses the problem of obtaining an Earth-fixed trajectory and map (ETM), with the associated uncertainty, using the sensor-based map provided by a globally asymptotically/exponentially stable (GES) SLAM filter. The algorithm builds on an optimization problem with a closed-form solution, and its uncertainty description is derived resorting to perturbation theory. The combination of the algorithm proposed in this paper with sensor-based SLAM filtering results in a complete SLAM methodology, which is directly applied to the three main different formulations: range-and-bearing, range-only, and bearing-only. Simulation and experimental results for all these formulations are included in this work to illustrate the performance of the proposed algorithm under realistic conditions. The ETM algorithm proposed in this paper is truly sensor-agnostic, as it only requires a sensor-based map and imposes no constraints on how this map is acquired nor how egomotion is captured. However, in the experiments presented herein, all the sensor-based filters use a sensor to measure the angular velocity and, for the range-only and bearing-only formulations, a sensor to measure the linear velocity.DEE - Departamento de Engenharia Electrotécnica e de ComputadoresCTS - Centro de Tecnologia e SistemasUNINOVA-Instituto de Desenvolvimento de Novas TecnologiasRUNLourenço, PedroGuerreiro, Bruno J.Batista, PedroOliveira, Paulo JorgeSilvestre, Carlos2022-09-01T00:31:20Z2020-082020-08-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10362/106278eng0921-8890PURE: 18724859https://doi.org/10.1016/j.robot.2020.103552info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-03-11T04:51:20Zoai:run.unl.pt:10362/106278Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T03:40:41.169683Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Earth-fixed trajectory and map online estimation: Building on GES sensor-based SLAM filters
title Earth-fixed trajectory and map online estimation: Building on GES sensor-based SLAM filters
spellingShingle Earth-fixed trajectory and map online estimation: Building on GES sensor-based SLAM filters
Lourenço, Pedro
Mapping
Perturbation theory
Procrustes problem
Robotics
SLAM
Control and Systems Engineering
Software
Mathematics(all)
Computer Science Applications
title_short Earth-fixed trajectory and map online estimation: Building on GES sensor-based SLAM filters
title_full Earth-fixed trajectory and map online estimation: Building on GES sensor-based SLAM filters
title_fullStr Earth-fixed trajectory and map online estimation: Building on GES sensor-based SLAM filters
title_full_unstemmed Earth-fixed trajectory and map online estimation: Building on GES sensor-based SLAM filters
title_sort Earth-fixed trajectory and map online estimation: Building on GES sensor-based SLAM filters
author Lourenço, Pedro
author_facet Lourenço, Pedro
Guerreiro, Bruno J.
Batista, Pedro
Oliveira, Paulo Jorge
Silvestre, Carlos
author_role author
author2 Guerreiro, Bruno J.
Batista, Pedro
Oliveira, Paulo Jorge
Silvestre, Carlos
author2_role author
author
author
author
dc.contributor.none.fl_str_mv DEE - Departamento de Engenharia Electrotécnica e de Computadores
CTS - Centro de Tecnologia e Sistemas
UNINOVA-Instituto de Desenvolvimento de Novas Tecnologias
RUN
dc.contributor.author.fl_str_mv Lourenço, Pedro
Guerreiro, Bruno J.
Batista, Pedro
Oliveira, Paulo Jorge
Silvestre, Carlos
dc.subject.por.fl_str_mv Mapping
Perturbation theory
Procrustes problem
Robotics
SLAM
Control and Systems Engineering
Software
Mathematics(all)
Computer Science Applications
topic Mapping
Perturbation theory
Procrustes problem
Robotics
SLAM
Control and Systems Engineering
Software
Mathematics(all)
Computer Science Applications
description UID/EEA/00066/2019 PTDC/EEI-AUT/32107/2017 University of Macau Project MYRG2018-00198-FST Grant FDCT/026/2017/A1
publishDate 2020
dc.date.none.fl_str_mv 2020-08
2020-08-01T00:00:00Z
2022-09-01T00:31:20Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10362/106278
url http://hdl.handle.net/10362/106278
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 0921-8890
PURE: 18724859
https://doi.org/10.1016/j.robot.2020.103552
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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