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SC-KF Mobile Robot Localization: A Stochastic Cloning Kalman Filter for Processing Relative-State Measurements

Mourikis, Anastasios I. and Roumelliotis, Stergios I. and Burdick, Joel W. (2007) SC-KF Mobile Robot Localization: A Stochastic Cloning Kalman Filter for Processing Relative-State Measurements. IEEE Transactions on Robotics, 23 (4). pp. 717-730. ISSN 1094-6977. https://resolver.caltech.edu/CaltechAUTHORS:MOUieeetr07

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Abstract

This paper presents a new method to optimally combine motion measurements provided by proprioceptive sensors, with relative-state estimates inferred from feature-based matching. Two key challenges arise in such pose tracking problems: 1) the displacement estimates relate the state of the robot at two different time instants and 2) the same exteroceptive measurements are often used for computing consecutive displacement estimates, a process that renders the errors in these correlated. We present a novel stochastic cloning Kalman filtering (SC-KF) estimation algorithm that successfully addresses these challenges, while still allowing for efficient calculation of the filter gains and covariances. The proposed algorithm is not intended to compete with simultaneous localization and mapping (SLAM) approaches. Instead, it can be merged with any extended-Kalman-filter-based SLAM algorithm to increase its precision. In this respect, the SC-KF provides a robust framework for leveraging additional motion information extracted from dense point features that most SLAM algorithms do not treat as landmarks. Extensive experimental and simulation results are presented to verify the validity of the proposed method and to demonstrate that its performance is superior to that of alternative position-tracking approaches.


Item Type:Article
Additional Information:© 2007 IEEE. Reprinted with permission. Manuscript received March 1, 2006; revised December 18, 2006. [Posted online: 2007-08-08] This paper was recommended for publication by Associate Editor W. Burgard and Editor L. Parker upon evaluation of the reviewers’ comments. This work was supported in part by the University of Minnesota (DTC), in part by the NASA Mars Technology Program (MTP-1263201), and in part by the National Science Foundation (EIA-0324864, IIS-0643680).
Funders:
Funding AgencyGrant Number
University of MinnesotaUNSPECIFIED
NASAMTP-1263201
NSFEIA-0324864
NSFIIS-0643680
Subject Keywords:Displacement estimates, relative-pose measurements, robot localization, state augmentation, stochastic cloning
Issue or Number:4
Record Number:CaltechAUTHORS:MOUieeetr07
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:MOUieeetr07
Alternative URL:http://dx.doi.org/10.1109/TRO.2007.900610
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:8858
Collection:CaltechAUTHORS
Deposited By: Archive Administrator
Deposited On:21 Sep 2007
Last Modified:02 Oct 2019 23:55

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