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Ellipsoid SLAM: a novel set membership method for simultaneous localization and mapping

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Abstract

The extended Kalman filter (EKF) simultaneous localization and mapping (SLAM) requires the uncertainty to be Gaussian noise. This assumption can be relaxed to bounded noise by the set membership SLAM. However, the published set membership SLAMs are not suitable for large-scale and online problems. In this paper, we use ellipsoid algorithm for solving SLAM problem. The proposed ellipsoid SLAM has advantages over EKF SLAM and the other set membership SLAMs, in noise condition, online realization, and large-scale problem. By bounded ellipsoid technique, we analyze the convergence and stability of the ellipsoid SLAM. Simulation and experimental results show that the proposed ellipsoid SLAM is effective for online and large-scale problems such as Victoria Park dataset.

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Authors and Affiliations

  1. Departamento de Control Automatico, CINVESTAV-IPN (National Polytechnic Institute), 07360, Mexico City, Mexico

    Wen Yu, Erik Zamora & Alberto Soria

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  1. Wen Yu
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  2. Erik Zamora
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  3. Alberto Soria
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Correspondence to Wen Yu.

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Yu, W., Zamora, E. & Soria, A. Ellipsoid SLAM: a novel set membership method for simultaneous localization and mapping. Auton Robot 40, 125–137 (2016). https://doi.org/10.1007/s10514-015-9447-y

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  • DOI: https://doi.org/10.1007/s10514-015-9447-y

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