Abstract
This chapter provides an overview of algorithms for inertial sensor-based Simultaneous Localization and Mapping (SLAM) within the context of Unmanned Aerial Vehicles (UAVs). The presentation in this chapter is based on the use of the Extended Kalman Filter (EKF) and the Extended Information Filter (EIF) due to their ease of understanding, applicability to online implementation, and prevalence in airborne localization applications outside of SLAM (such as aided inertial localization). The discussion here includes an examination of SLAM for both small- and large-scale operation over the surface of the Earth, inertial SLAM using both range-bearing and bearing-only observations of the terrain, and a look at several different centralized and decentralized architectures for performing multi-vehicle SLAM.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
T. Bailey, Constrained initialisation for bearing-only SLAM, in IEEE International Conference on Robotics and Automation, Institute of Electrical Engineers, Piscataway, USA (2003)
I. Bar-Itzhack, D. Serfaty, Y. Vitek, Doppler-aided low-accuracy strapdown inertial navigation system. J. Guid. Control 5(3), 236–242 (1982)
M. Bosse, P. Newman, J. Leonard, M. Soika, W. Feiten, S. Teller, An Atlas framework for scalable mapping, in IEEE International Conference on Robotics and Automation, Institute of Electrical Engineers, Piscataway, USA (2003)
M. Bryson, S. Sukkarieh, Building a Robust implementation of bearing-only inertial SLAM for a UAV. J. Field Robot. Spl. Issue SLAM Field 24(2), 113–143 (2007)
M. Dissanayake, P. Newman, S. Clark, H. Durrant-Whyte, M. Csorba, A solution to the simultaneous localization and map building (SLAM) problem. IEEE Trans. Robot. Autom. 17(3), 229–241 (2001)
J. Fenwick, P. Newman, J. Leonard, Cooperative concurrent mapping and localisation, in IEEE International Conference on Robotics and Automation, Institute of Electrical Engineers, Piscataway, USA (2002)
D. Fox, J. Ko, K. Konolige, B. Limketkai, D. Shculz, B. Stewart, Distributed multirobot exploration and mapping. Proc. IEEE 94(7), 1325–1339 (2006)
C.S. Giovanni, Performance of a ring laser strapdown attitude and heading reference for aircraft. J. Guid. Control 2(4), 320–327 (1979)
J. Guivant, E. Nebot, Optimization of the simultaneous localization and map-building algorithm for real-time implementation. IEEE Trans. Robot. Autom. 17(3), 242–257 (2001)
J. Gutmann, K. Konolige, Incremental mapping of large cyclic environments, in International Symposium on Computational Intelligence in Robotics and Automation, Institute of Electrical Engineers, Piscataway, USA (1999)
S. Julier, J. Uhlmann, General Decentralised Data Fusion with Covariance Intersection (CI): Handbook of Data Fusion (CRC, Boca Raton, 2001)
J. Kim, S. Sukkarieh, Airborne simultaneous localization and map building, in IEEE International Conference on Robotics and Automation, Institute of Electrical Engineers, Piscataway, USA (2003)
N. Kwok, G. Dissanayake, An efficient multiple hypothesis filter for bearing only SLAM, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Institute of Electrical Engineers, Piscataway, USA (2004)
D. Lowe, Distinctive image features from scale-invariant keypoints. Int. J. Comput. Vis. 60(2), 91–110 (2004)
J. Manyika, H. Durrant-Whyte, Data Fusion and Sensor Management: a decentralised information-theoretic approach, (Ellis Horwood Ltd., London, 1994)
J. Meyer-Hilberg, T. Jacob, High accuracy navigation and landing system using GPS/IMU system integration, in IEEE Position, Location and Navigation Symposium, Institute of Electrical Engineers, Piscataway, USA (1994)
A. Mourikis, S. Roumeliotis, Performance bounds for cooperative simultaneous localisation and mapping (C-SLAM), in Robotics: Science and Systems Conference, http://www.roboticsproceedings.org/rss01/p10.html (2005)
J. Neira, J. Tardos, Data association in stochastic mapping using the joint compatibility test. IEEE Trans. Robot. Autom. 17(6), 890–897 (2001)
E. Nettleton, Decentralised Architectures for Tracking and Navigation with Multiple Flight Vehicles. Ph.d, University of Sydney, 2003
E. Nettleton, S. Thrun, H. Durrant-Whyte, S. Sukkarieh, Decentralised SLAM with low-bandwidth communication for teams of vehicles, in 4th International Conference on Field and Service Robotics, Springer-Verlag, New York (2003)
M. Nixon, A. Aguado, Feature Extraction and Image Processing (Butterworth Heinmann/Newnes, Oxford, 2001)
E. Olson, J. Leonard, S. Teller, Robust range-only Beacon localization, in IEEE Autonomous Underwater Vehicle Conference, Institute of Electrical Engineers, Piscataway, USA (2004)
S. Ong, M. Ridley, J. Kim, E. Nettleton, S. Sukkarieh, Six DoF decentralised SLAM, in Australiasian Conference on Robotics and Automation, http://www.araa.asn.au/acra/acra2003/papers/31.pdf (2003)
R. Smith, M. Self, P. Cheeseman, Estimating Uncertain Spatial Relationships in Robotics: Autonomous Robot Vehicles (Springer, New York, 1990)
S. Thrun, Y. Lui, Multi-Robot SLAM with sparse extended information filters, in International Symposium on Robotics Research, Springer-Verlag, New York (2003a)
S. Thrun, Y. Lui, Results for outdoor-SLAM using sparse extended information filters, in IEEE International Conference on Robotics and Automation, Institute of Electrical Engineers, Piscataway, USA (2003b)
D. Titterton, J. Weston, Strapdown Inertial Navigation Technology (Peter Peregrinus Ltd., London, 1997)
M. Walter, J. Leonard, An experimental investigation of cooperative SLAM, in 5th International Symposium on Intelligent Autonomous Vehicles (2004)
S. Williams, G. Dissanayake, H. Durrant-Whyte, Towards terrain-aided navigation for underwater Robotics. Adv. Robot. 15(5), 533–550 (2001)
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer Science+Business Media Dordrecht
About this entry
Cite this entry
Bryson, M., Sukkarieh, S. (2015). Inertial Sensor-Based Simultaneous Localization and Mapping for UAVs. In: Valavanis, K., Vachtsevanos, G. (eds) Handbook of Unmanned Aerial Vehicles. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9707-1_5
Download citation
DOI: https://doi.org/10.1007/978-90-481-9707-1_5
Published:
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-9706-4
Online ISBN: 978-90-481-9707-1
eBook Packages: EngineeringReference Module Computer Science and Engineering