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Uncertainty analysis of a landmark initialization method for simultaneous localization and mapping

Huang, Henry, Maire, Frederic D., & Keeratipranon, Narongdech (2005) Uncertainty analysis of a landmark initialization method for simultaneous localization and mapping. In Sammut, Claude (Ed.) Australasian Conference on Robotics and Automation 2005, 5 - 7 December, Sydney, Australia.

Abstract

To operate successfully in any environment, mobile robots must be able to localize themselves accurately. In this paper, we describe a method to perform Simultaneous Localization and Mapping (SLAM) requiring only landmark bearing measurements taken along a linear trajectory. We solve the landmark initialization problem with only the assumption that the vision sensor of the robot can identify the landmarks and estimate their bearings. Contrary to existing approaches to landmark based navigation, we do not require any other sensors (like range sensors or wheel encoders) or the prior knowledge of relative distances between the landmarks. We provide an analysis of the uncertainty of the observations of the robot. In particular, we show how the uncertainty of the measurements is affected by a change of frames. That is, we determine what can an observer attached to a landmark frame deduce from the information transmitted by an observer attached to the robot frame. This SLAM system is ideally suited for the navigation of domestic robots such as autonomous lawn-mowers and vacuum cleaners.

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ID Code: 8722
Item Type: Conference Paper
Additional Information: For more information, please refer to the conference's website (see hypertext link) or contact the author. Author contact details: f.maire@qut.edu.au
Additional URLs:
Keywords: SLAM, Landmark Initialization
ISBN: 0-9587583-7-9
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Computer Vision (080104)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
Divisions: Past > QUT Faculties & Divisions > Faculty of Science and Technology
Copyright Owner: Copyright 2005 The Authors
Copyright Statement: The contents of this proceeding can be freely accessed online via the journal’s web page (see hypertext link).
Deposited On: 23 Jul 2007
Last Modified: 29 Feb 2012 23:12

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