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: Emerging Control Techniques for a Sustainable World, ASCC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Print)9781479978625
DOIs
Publication statusPublished - Sep 8 2015
Event10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia
Duration: May 31 2015Jun 3 2015

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Watanabe, K., Fukada, R., & Maeyama, S. (2015). Bearing-only unscented smoothers for a visual SLAM. In 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015 [7244582] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASCC.2015.7244582