Ground Target Tracking Using a Monocular Camera and IMU in a Nonlinear Observer SLAM Framework
Ground Target Tracking Using a Monocular Camera and IMU in a Nonlinear Observer SLAM Framework
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DOI：
10.23919/acc.2018.8430760
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发表时间：
2018-06
期刊：
影响因子：
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通讯作者：
Jerel Nielsen;R. Beard
中科院分区：
文献类型：
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作者：
Jerel Nielsen;R. Beard
本文讨论了一种基于全局渐近稳定观测器的运动地面目标估计方法，该方法只需要一个单目摄像机和一个惯性测量单元（IMU）。观测器在持续的激励约束下工作，并要求惯性原点在整个运行过程中保持在视线内。本文的贡献是提高非线性观测器收敛速度的迭代过程和保持惯性原点在视线范围内的过程。仿真结果表明，相对于观测器的地标估计，观测器具有快速收敛和跟踪机动地面目标的能力。
This paper discusses moving ground target estimation using a recently proposed, uniformly globally asymptotically stable observer for simultaneous localization and mapping (SLAM), which only requires a monocular camera and an inertial measurement unit (IMU). The observer operates under a persistent excitation constraint and requires the inertial origin to remain in view throughout its operation. The contributions of this paper are an iterative procedure to increase convergence speed of nonlinear observers and a process for keeping the inertial origin within view. Simulation results demonstrate fast observer convergence and tracking of a maneuvering ground target relative to the observer's landmark estimates.