A Normalized Measurement Vector Model for Enhancing Localization Performance of 6-DoF Bearing-only SLAM
| Autor: | Byungjin Lee, Sukchang Yun, Yeonjo Kim, Sangkyung Sung |
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| Rok vydání: | 2018 |
| Předmět: |
Normalization (statistics)
0209 industrial biotechnology Observational error Computer science business.industry Robotics 02 engineering and technology Mechatronics Simultaneous localization and mapping Computer Science Applications Model validation Computer Science::Robotics 03 medical and health sciences Extended Kalman filter 020901 industrial engineering & automation 0302 clinical medicine Control and Systems Engineering Inertial measurement unit 030220 oncology & carcinogenesis Artificial intelligence business Algorithm |
| Zdroj: | International Journal of Control, Automation and Systems. 16:912-920 |
| ISSN: | 2005-4092 1598-6446 |
| Popis: | This study proposes a novel bearing measurement model in order to improve the localization performance of 6-DoF SLAM (six degree-of-freedom simultaneous localization and mapping). The main limitation of the existing measurement model for 6-DoF bearing-only SLAM using feature points was first analyzed, and a bearing measurement normalization method was then presented in order to cope with this limitation. The existing measurement model has a vulnerability in that the bearing measurement has different error levels depending on the feature point position, and thus the validity of the model is degraded as the feature point moves closer to the origin in the image. This problem can cause the innovation vector to become abnormally large in extended Kalman filter (EKF)- based navigation filters, resulting in divergence of the navigation filter. The normalization method proposed in this study makes the measurement error level constant. The new measurement model was derived using this method, and a bearing-only SLAM consisting of an inertial measurement unit (IMU) and bearing sensors was constructed in the EKF framework. The validity of this measurement model was analyzed by checking the innovation vectors in the navigation filter, and the performance of the system was verified through simulations by comparing with the navigation solution based on the existing measurement model. |
| Databáze: | OpenAIRE |
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