Title :
Experimental implementation of an Invariant Extended Kalman Filter-based scan matching SLAM
Author :
Barczyk, Martin ; Bonnabel, Silvere ; Deschaud, Jean-Emmanuel ; Goulette, Francois
Author_Institution :
Centre de Robot., Mines ParisTech, Paris, France
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 filters; SLAM (robots); invariant extended Kalman filter; scan matching SLAM; wheeled robot hardware platform; Iterative closest point algorithm; Observers; Simultaneous localization and mapping; Trajectory; Vehicles; Kalman filtering; Observers for nonlinear systems; Sensor fusion;
Conference_Titel :
American Control Conference (ACC), 2014
Conference_Location :
Portland, OR
Print_ISBN :
978-1-4799-3272-6
DOI :
10.1109/ACC.2014.6859291
