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Localization and Mapping Corrections

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Geolocation Techniques

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Abstract

Chapter 9 gives an overview of localization and mapping with a focus on near real-time implementation. We look at sensors that provide information about the environment (allothetic) and that aid us in creating a map of what is around us. The created map is also used for localization. This classic problem of simultaneous localization and mapping (SLAM) requires fusion of information from idiothetic and allothetic sensors. The basic idea of SLAM is that if the sensor and algorithms can identify a landmark and a location of that landmark relative to tracked subject, then any time that landmark is seen again, its location can be used to correct the tracked subject’s location. We discuss a small set of environmental sensors that can be used in SLAM algorithms including optical, magnetometer an inertial and discuss how features are selected. We give an overview of approaches to solving the SLAM problem and then show some results of a particular implementation.

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Notes

  1. 1.

    Feature tracking can also be used to directly solve for the resulting motion of a sensor if enough information is gathered to infer the relative movement of features in a metric map as a result of the subject motion, for example, stereo camera feature tracking.

  2. 2.

    http://pdf1.alldatasheet.com/datasheet-pdf/view/205144/YAMAHA/YAS529.html.

  3. 3.

    The subjects walked close to the center of the hallways during these tests at constant speed.

  4. 4.

    The Cramer Rao Lower Bound (CRLB) gives smallest variance achievable by an unbiased estimate.

  5. 5.

    This assumes traveling in a straight line track without wheel slip.

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Author information

Authors and Affiliations

  1. Technology, National Institute of Standards and Technology, 100 Bureau Drive, Gaithersburg, Maryland, 20899, USA

    Camillo Gentile

  2. Etisalat BT Innovation Center (EBTIC), Khalifa University of Science, Technology and Research (KUSTAR), 127788, Abu Dhabi, United Arab Emirates (UAE)

    Nayef Alsindi

  3. German Aerospace Center, Münchnerstr. 20, 82234, Wessling, Germany

    Ronald Raulefs

  4. TRX Systems, 7500 Greenway Center Drive Suite 420, Greenbelt, 20770, USA

    Carole Teolis

Authors
  1. Camillo Gentile
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  2. Nayef Alsindi
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  3. Ronald Raulefs
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  4. Carole Teolis
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Correspondence to Camillo Gentile .

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Gentile, C., Alsindi, N., Raulefs, R., Teolis, C. (2013). Localization and Mapping Corrections. In: Geolocation Techniques. Springer, New York, NY. https://doi.org/10.1007/978-1-4614-1836-8_9

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  • DOI: https://doi.org/10.1007/978-1-4614-1836-8_9

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