New Design Techniques for Globally Convergent Simultaneous Localization and Mapping: Analysis and Implementation

Earth-fixed trajectory and map online estimation: Building on GES sensor-based SLAM filters

“…Therefore, it is possible to tag each of the landmarks in the map. A simulated environment was devised in Matlab to better explore several aspects of the algorithm and showcase its performance (a complete description of this environment can be found in [41,Appendix C]). This tries to emulate the fifth floor of the North Tower at IST.…”

“…The above results were complemented for three dimensions by a series of experiments conducted in the Sensor-based Cooperative Robotics Research Laboratory -SCORE Lab of the Faculty of Science and Technology of the University of Macau. The setup consists of an Asctec Pelican quadrotor equipped with a Microstrain 3DM-GX3-25 inertial measurement unit working at 50 Hz and a Microsoft Kinect camera, at 10 Hz (see [41,Appendix D] for further details on the experimental setup. ).The experiments consisted in moving the quadrotor inside a 8m×6m room (usable area of 16 m 2 ) equipped with a VICON motion capture system [46,47], a state-of-the-art optical system that records the movement of objects or people with millimetric resolution in 3-D, by means of infrared markertracking.…”

“…A brief description of the sensor-based filter is provided in the next subsection, as an introduction to the ETM algorithm further detailed in Section 3. For an in-depth overview of the contents of this section, with expanded system design, observability results, and practical results, see [34].…”