Comparing Traditional and Motion Constraint Methods for EKF-Based SLAM

K. Brink, E. Doucette, M. Miller

Abstract:	This work investigates the effectiveness of a novel motion constraint equation for EKF-based monocular SLAM. The motion constraints were developed in 2009 by Soloviev et al., but the approach has not been adequately evaluated and compared to traditional SLAM implementations. A traditional SLAM method, utilizing the difference in anticipated bearings with the measured bearings (or pixel) to a feature, is compared to the alternative motion constraint approach in the 2D bearings-only case. The alternative motion constraint is a geometric zero constraint on the same set of states, not simply an alternate feature state formulation. Monte Carlo simulations are performed to directly compare both the traditional and geometric constraint formulations using the same states, measurements, and noise profiles. Additionally, the geometric formulation is altered for the 2D range and bearing case and is demonstrated in simulation to require a single state per feature.
Published in:	Proceedings of the ION 2013 Pacific PNT Meeting April 23 - 25, 2013 Marriott Waikiki Beach Resort & Spa Honolulu, Hawaii
Pages:	344 - 351
Cite this article:	Brink, K., Doucette, E., Miller, M., "Comparing Traditional and Motion Constraint Methods for EKF-Based SLAM," Proceedings of the ION 2013 Pacific PNT Meeting, Honolulu, Hawaii, April 2013, pp. 344-351.
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