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Using Range and Bearing Observation in Stereo-Based EKF SLAM

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Towards Autonomous Robotic Systems (TAROS 2013)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8069))

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Abstract

In this work, we have developed a new observation model for a stereo-based simultaneous localization and mapping (SLAM) system within the standard Extended-Kalman filter (EKF) framework. The observation model was derived by using the inverse depth parameterization as the landmark model, and contributes to both bearing and range information into the EKF estimation. In this way the inherently non-linear problem cause by the camera projection equations is resolved and real depth uncertainty distribution of landmarks features can be accurately estimated. The system was tested by real-world large-scale outdoor data. Analysis results show that the landmark feature depth estimation is more stable and the uncertainty noise converges faster than the binocular stereo-based approach. We also found minor drift in the vehicle pose estimation even after extended periods demonstrating the effectiveness of the new model.

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Author information

Authors and Affiliations

  1. School of Defense Science, Chung-Cheng Institute of Technology, National Defense University, 33551, Tauyuan County, Taiwan

    Yao-Chang Chen

  2. Department of Computer Science and Information Engineering, National Taiwan University, 10617, Taipei, Taiwan

    Tsung-Han Lin

  3. Department of Avionics, China University Science and Technology, 31241, Hsinchu County, Taiwan

    Ta-Ming Shih

Authors
  1. Yao-Chang Chen
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  2. Tsung-Han Lin
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  3. Ta-Ming Shih
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Corresponding author

Correspondence to Yao-Chang Chen .

Editor information

Editors and Affiliations

  1. Department of Computer Science, University of Oxford, Oxford, United Kingdom

    Ashutosh Natraj

  2. Department of Computer Science, University of Oxford, Oxford, United Kingdom

    Stephen Cameron

  3. University of Bristol and the West of En, Bristol, United Kingdom

    Chris Melhuish

  4. Imperial College London Department of Electrical and Electronic, London, United Kingdom

    Mark Witkowski

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© 2014 Springer-Verlag Berlin Heidelberg

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Chen, YC., Lin, TH., Shih, TM. (2014). Using Range and Bearing Observation in Stereo-Based EKF SLAM. In: Natraj, A., Cameron, S., Melhuish, C., Witkowski, M. (eds) Towards Autonomous Robotic Systems. TAROS 2013. Lecture Notes in Computer Science(), vol 8069. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-43645-5_37

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  • DOI: https://doi.org/10.1007/978-3-662-43645-5_37

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-662-43644-8

  • Online ISBN: 978-3-662-43645-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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