论文标题
用于视觉同时定位和映射的建设性观察者设计
Constructive Observer Design for Visual Simultaneous Localisation and Mapping
论文作者
论文摘要
视觉同时定位和映射（VSLAM）是具有大量应用的机器人技术中的一个众所周知的问题。本文通过将观察者的设计提升为一个新颖的谎言群来提出一种新颖的VSLAM方法，该谎言群体是该系统输出的。从该分析中获得的观点有助于具有几乎半全球渐近稳定的误差动力学的非线性观察者的设计。提供了仿真来说明所提出的观察者的行为，并在使用固定翼无人机飞行室外收集的数据上进行了实验证明了其性能。
Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem in robotics with a large range of applications. This paper presents a novel approach to VSLAM by lifting the observer design to a novel Lie group on which the system output is equivariant. The perspective gained from this analysis facilitates the design of a non-linear observer with almost semi-globally asymptotically stable error dynamics. Simulations are provided to illustrate the behaviour of the proposed observer and experiments on data gathered using a fixed-wing UAV flying outdoors demonstrate its performance.
