Experimental Implementation of an Invariant Extended Kalman Filter-based Scan Matching SLAM

Authors :: Barczyk, Martin
Bonnabel, Silvère
Deschaud, Jean-Emmanuel
Goulette, François
Source :: Proceedings of the 2014 American Control Conference, Portland, OR, June 2014, pp. 4121-4126
Publication Year :: 2014
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.

Subjects :: Computer Science - Systems and Control
Computer Science - Robotics

Database :: arXiv
Journal :: Proceedings of the 2014 American Control Conference, Portland, OR, June 2014, pp. 4121-4126
Publication Type :: Report
Accession number :: edsarx.1403.5195
Document Type :: Working Paper

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