.png){kind=icon}
返回
Data-Driven Batch Localization and SLAM Using Koopman Linearization
.png){kind=icon}
PRE
AI
DOI：10.1109/TRO.2024.3443674.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
In this article, we present a framework for model-free batch localization and simultaneous localization and mapping (SLAM). We use lifting functions to map a control-affine system into a high-dimensional space, where both the process model and the measurement model are rendered bilinear. During training, we solve a least-squares problem using groundtruth data to compute the high-dimensional model matrices associated with the lifted system purely from data. At inference time, we solve for the unknown robot trajectory and landmarks through an optimization problem, where constraints are introduced to keep the solution on the manifold of the lifting functions. The problem is efficiently solved using a sequential quadratic program (SQP), where the complexity of an SQP iteration scales linearly with the number of timesteps. Our algorithms, called reduced constrained Koopman linearization localization (RCKL-Loc) and reduced constrained Koopman linearization SLAM (RCKL-SLAM), are validated experimentally in simulation and on two datasets: one with an indoor mobile robot equipped with a laser rangefinder that measures range to cylindrical landmarks, and one on a golf cart equipped with radio-frequency identification (RFID) range sensors. We compare RCKL-Loc and RCKL-SLAM with classic model-based nonlinear batch estimation. While RCKL-Loc and RCKL-SLAM have a similar performance compared to their model-based counterparts, they outperform the model-based approaches when the prior model is imperfect, showing the potential benefit of the proposed data-driven technique.
Keyword:
Simultaneous localization and mapping
Robots
Location awareness
Noise measurement
Solid modeling
Position measurement
Noise
Koopman
localization
robot learning
simultaneous localization and mapping
期刊
IF:
10.5
论文数:
3.3K
被引数:
2.8W
机构
引用论文
Diagnosis of a pericardial effusion with a thoracic aortic aneurysm by point-of-care ultrasound.png)
CJEM
OAAI
CJEMIF0
OAAI分享收藏Hyperparameter optimization: Foundations, algorithms, best practices, and open challenges超参数优化: 基础、算法、最佳实践和开放挑战OAAI
OAAI分享收藏Linear predictors for nonlinear dynamical systems: Koopman operator meets model predictive control非线性动力系统的线性预测器: Koopman算子满足模型预测控制AUTOMATICAOAAI
AUTOMATICAIF5.9
OAAI分享收藏分享收藏分享收藏
查看更多内容