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 language | English |
|---|---|
| Title of host publication | 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (Print) | 9781479978625 |
| DOIs | |
| Publication status | Published - Sep 8 2015 |
| Event | 10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia Duration: May 31 2015 → Jun 3 2015 |
Other
| Other | 10th Asian Control Conference, ASCC 2015 |
|---|---|
| Country | Malaysia |
| City | Kota Kinabalu |
| Period | 5/31/15 → 6/3/15 |
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ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Bearing-only unscented smoothers for a visual SLAM. / Watanabe, Keigo; Fukada, Ryuhei; Maeyama, Shoichi.
2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. Institute of Electrical and Electronics Engineers Inc., 2015. 7244582.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Bearing-only unscented smoothers for a visual SLAM
AU - Watanabe, Keigo
AU - Fukada, Ryuhei
AU - Maeyama, Shoichi
PY - 2015/9/8
Y1 - 2015/9/8
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84957649586&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84957649586&partnerID=8YFLogxK
U2 - 10.1109/ASCC.2015.7244582
DO - 10.1109/ASCC.2015.7244582
M3 - Conference contribution
AN - SCOPUS:84957649586
SN - 9781479978625
BT - 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015
PB - Institute of Electrical and Electronics Engineers Inc.
ER -