Experimental implementation of an Invariant Extended Kalman Filter-based scan matching SLAM

Martin Barczyk; Silvère Bonnabel; Jean Emmanuel Deschaud; François Goulette

doi:10.1109/ACC.2014.6859291

Experimental implementation of an Invariant Extended Kalman Filter-based scan matching SLAM

Martin Barczyk
, Silvère Bonnabel
, Jean Emmanuel Deschaud
, François Goulette

Mathématiques et Systèmes

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

We describe an application of the Invariant Extended Kalman Filter (IEKF) design methodology to the scan matching SLAM problem. We review the theoretical foundations of the IEKF and its practical interest of guaranteeing robustness to poor state estimates, then implement the filter on a wheeled robot hardware platform. The proposed design is successfully validated in experimental testing.

Original language	English
Title of host publication	2014 American Control Conference, ACC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4121-4126
Number of pages	6
ISBN (Print)	9781479932726
DOIs	https://doi.org/10.1109/ACC.2014.6859291
Publication status	Published - 1 Jan 2014
Externally published	Yes
Event	2014 American Control Conference, ACC 2014 - Portland, OR, United States Duration: 4 Jun 2014 → 6 Jun 2014

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Conference

Conference	2014 American Control Conference, ACC 2014
Country/Territory	United States
City	Portland, OR
Period	4/06/14 → 6/06/14

Keywords

Kalman filtering
Observers for nonlinear systems
Sensor fusion

Access to Document

10.1109/ACC.2014.6859291

Cite this

Barczyk, M., Bonnabel, S., Deschaud, J. E., & Goulette, F. (2014). Experimental implementation of an Invariant Extended Kalman Filter-based scan matching SLAM. In 2014 American Control Conference, ACC 2014 (pp. 4121-4126). Article 6859291 (Proceedings of the American Control Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2014.6859291

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title = "Experimental implementation of an Invariant Extended Kalman Filter-based scan matching SLAM",

abstract = "We describe an application of the Invariant Extended Kalman Filter (IEKF) design methodology to the scan matching SLAM problem. We review the theoretical foundations of the IEKF and its practical interest of guaranteeing robustness to poor state estimates, then implement the filter on a wheeled robot hardware platform. The proposed design is successfully validated in experimental testing.",

keywords = "Kalman filtering, Observers for nonlinear systems, Sensor fusion",

author = "Martin Barczyk and Silv{\`e}re Bonnabel and Deschaud, \{Jean Emmanuel\} and Fran{\c c}ois Goulette",

year = "2014",

month = jan,

day = "1",

doi = "10.1109/ACC.2014.6859291",

language = "English",

isbn = "9781479932726",

series = "Proceedings of the American Control Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "4121--4126",

booktitle = "2014 American Control Conference, ACC 2014",

note = "2014 American Control Conference, ACC 2014 ; Conference date: 04-06-2014 Through 06-06-2014",

}

Barczyk, M, Bonnabel, S, Deschaud, JE & Goulette, F 2014, Experimental implementation of an Invariant Extended Kalman Filter-based scan matching SLAM. in 2014 American Control Conference, ACC 2014., 6859291, Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 4121-4126, 2014 American Control Conference, ACC 2014, Portland, OR, United States, 4/06/14. https://doi.org/10.1109/ACC.2014.6859291

Experimental implementation of an Invariant Extended Kalman Filter-based scan matching SLAM. / Barczyk, Martin; Bonnabel, Silvère; Deschaud, Jean Emmanuel et al.
2014 American Control Conference, ACC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 4121-4126 6859291 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Barczyk, Martin

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AU - Deschaud, Jean Emmanuel

AU - Goulette, François

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N2 - We describe an application of the Invariant Extended Kalman Filter (IEKF) design methodology to the scan matching SLAM problem. We review the theoretical foundations of the IEKF and its practical interest of guaranteeing robustness to poor state estimates, then implement the filter on a wheeled robot hardware platform. The proposed design is successfully validated in experimental testing.

AB - We describe an application of the Invariant Extended Kalman Filter (IEKF) design methodology to the scan matching SLAM problem. We review the theoretical foundations of the IEKF and its practical interest of guaranteeing robustness to poor state estimates, then implement the filter on a wheeled robot hardware platform. The proposed design is successfully validated in experimental testing.

KW - Kalman filtering

KW - Observers for nonlinear systems

KW - Sensor fusion

U2 - 10.1109/ACC.2014.6859291

DO - 10.1109/ACC.2014.6859291

M3 - Conference contribution

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ER -

Experimental implementation of an Invariant Extended Kalman Filter-based scan matching SLAM

Abstract

Publication series

Conference

Keywords

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Cite this