Invariant EKF Design for Scan Matching-aided Localization - Mines Paris
Article Dans Une Revue IEEE Transactions on Control Systems Technology Année : 2015

Invariant EKF Design for Scan Matching-aided Localization

Martin Barczyk
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Silvère Bonnabel
Jean-Emmanuel Deschaud
François Goulette

Résumé

Localization in indoor environments is a technique that estimates the robot's pose by fusing data from onboard motion sensors with readings of the environment, in our case obtained by scan matching point clouds captured by a low-cost Kinect depth camera. We develop both an invariant extended Kalman filter (IEKF)-based and a multiplicative extended Kalman filter-based solution to this problem. The two designs are successfully validated in experiments and demonstrate the advantage of the IEKF design.
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Dates et versions

hal-01256770 , version 1 (15-01-2016)

Identifiants

Citer

Martin Barczyk, Silvère Bonnabel, Jean-Emmanuel Deschaud, François Goulette. Invariant EKF Design for Scan Matching-aided Localization. IEEE Transactions on Control Systems Technology, 2015, 23 (6), pp.2440-2448. ⟨10.1109/TCST.2015.2413933⟩. ⟨hal-01256770⟩
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