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Constructive observer design for Visual Simultaneous Localisation and Mapping
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DOI：10.1016/j.automatica.2021.109803.png)
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Abstract
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Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem in robotics with a large range of applications. This paper presents a novel approach to VSLAM by lifting the observer design to a novel Lie group VSLAM(n)(3) on which the system output is equivariant. The perspective gained from this analysis facilitates the design of a non-linear observer with almost semi-globally asymptotically stable error dynamics. Simulations are provided to illustrate the behaviour of the proposed observer and experiments on data gathered using a fixed-wing UAV flying outdoors demonstrate its performance. (C) 2021 Elsevier Ltd. All rights reserved.
Keywords:
Equivariant observer
Visual odometry (VO)
Simultaneous Localisation and Mapping (SLAM)
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