@inproceedings{2d61014c32bf48928a59a479c6d650b9,
title = "A Geometric Observer Design for Visual Localisation and Mapping",
abstract = "This paper builds on recent work on Simultaneous Localisation and Mapping (SLAM) in the non-linear observer community, by framing the visual localisation and mapping problem as a continuous-time equivariant observer design problem on the symmetry group of a kinematic system. The state-space is a quotient of the robot pose expressed on SE (3) and multiple copies of real projective space, used to represent both points in space and bearings in a single unified framework. An observer with decoupled Riccati-gains for each landmark is derived and we show that its error system is almost globally asymptotically stable and exponentially stable in-the-large.",
author = "Goor, {Pieter Van} and Robert Mahony and Tarek Hamel and Jochen Trumpf",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 58th IEEE Conference on Decision and Control, CDC 2019 ; Conference date: 11-12-2019 Through 13-12-2019",
year = "2019",
month = dec,
doi = "10.1109/CDC40024.2019.9029435",
language = "English",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2543--2549",
booktitle = "2019 IEEE 58th Conference on Decision and Control, CDC 2019",
address = "United States",
}