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Dynamic EKF-based SLAM for autonomous mobile convergence platforms

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Abstract

This paper presents a new Simultaneous Localization and Mapping (SLAM) framework for solving the problem of SLAM in dynamic environments. The landmark location change causes the error of robot pose estimation and landmark mapping. In this paper, we propose the Dynamic Extended Kalman Filter (EKF) SLAM based on the independence of the dynamic landmarks. The proposed framework decomposes the SLAM problem into a traditional SLAM problem for the static landmarks and individual SLAM problems for the dynamic landmarks. Therefore, in the dynamic environments, it is able to minimize the error caused by the dynamic landmarks and reduce the uncertainty in the robot pose and the landmark locations. In order to validate the proposed approach, we implement an indoor mobile robot platform with a Red Green Blue - Depth (RGB-D) sensor and utilize Speeded Up Robust Features (SURF) algorithm to extract appearance-based features. The simulation and experimental results show the validity and robustness of the Dynamic EKF SLAM in indoor environments including the dynamic landmarks.

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Acknowledgments

This research is supported by Ministry of Culture, Sports and Tourism (MCST) and Korea Creative content Agency (KOCCA) in the Culture Technology (CT) Research & Development Program and also supported partially by the MSIP (Ministry of Science, ICT & Future Planning), Korea, under the ITRC (Information Technology Research Center) support program (NIPA-2013-H0301-13-3005) supervised by the NIPA (National IT Industry Promotion Agency).

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Authors and Affiliations

  1. Korea Advanced Institute of Science and Technology, 335 Gwahak-ro, Yuseong-gu, Daejeon, 305-701, South Korea

    Seungwon Oh & Minsoo Hahn

  2. School of Electronics and Computer Engineering, Chonnam National University, 300 Yongbong-dong, Buk-gu, Gwangju, 500-757, South Korea

    Jinsul Kim

Authors
  1. Seungwon Oh
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  2. Minsoo Hahn
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  3. Jinsul Kim
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Correspondence to Minsoo Hahn or Jinsul Kim.

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Oh, S., Hahn, M. & Kim, J. Dynamic EKF-based SLAM for autonomous mobile convergence platforms. Multimed Tools Appl 74, 6413–6430 (2015). https://doi.org/10.1007/s11042-014-2093-0

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  • DOI: https://doi.org/10.1007/s11042-014-2093-0

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