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SLAM with joint sensor bias estimation / Linthotage D. L. Perera in IEEE Transactions on control systems technology, Vol. 18 N° 3 (Mai 2010) 

Public ISBD [article]  in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 732-740 Titre : SLAM with joint sensor bias estimation : closed form solutions on observability, error bounds and convergence rates Type de document : texte imprimé Auteurs : Linthotage D. L. Perera, Auteur ; Wijerupage Sardha Wijesoma, Auteur ; Martin David Adams, Auteur Année de publication : 2011 Article en page(s) : pp. 732-740 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Bias  estimation  Mapping  Robot  localization Index. décimale : 629.1 Résumé : Notable problems in Simultaneous Localization and Mapping (SLAM) are caused by biases and drifts in both exteroceptive and proprioceptive sensors. The impacts of sensor biases include inconsistent map estimates and inaccurate localization. Unlike Map Aided Localisation with Joint Sensor Bias Estimation (MAL-JSBE), SLAM with Joint Sensor Bias Estimation (SLAM-JSBE) is more complex as it encompasses a state space, which increases with the discovery of new landmarks and the inherent map to vehicle correlations. The properties such as observability, error bounds and convergence rates of SLAM-JSBE using an augmented estimation theoretic, state space approach, are investigated here. SLAM-JSBE experiments, which adhere to the derived constraints, are demonstrated using a low cost inertial navigation sensor suite. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208263 [article] SLAM with joint sensor bias estimation : closed form solutions on observability, error bounds and convergence rates [texte imprimé] / Linthotage D. L. Perera, Auteur ; Wijerupage Sardha Wijesoma, Auteur ; Martin David Adams, Auteur . - 2011 . - pp. 732-740. Génie Aérospatial Langues : Anglais (eng) in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 732-740 Mots-clés : Bias  estimation  Mapping  Robot  localization Index. décimale : 629.1 Résumé : Notable problems in Simultaneous Localization and Mapping (SLAM) are caused by biases and drifts in both exteroceptive and proprioceptive sensors. The impacts of sensor biases include inconsistent map estimates and inaccurate localization. Unlike Map Aided Localisation with Joint Sensor Bias Estimation (MAL-JSBE), SLAM with Joint Sensor Bias Estimation (SLAM-JSBE) is more complex as it encompasses a state space, which increases with the discovery of new landmarks and the inherent map to vehicle correlations. The properties such as observability, error bounds and convergence rates of SLAM-JSBE using an augmented estimation theoretic, state space approach, are investigated here. SLAM-JSBE experiments, which adhere to the derived constraints, are demonstrated using a low cost inertial navigation sensor suite. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208263