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A Composite Beacon Initialization for EKF Range-Only SLAM

Abstract : Accurately localize a mobile vehicle with an easy and quickly deployable system can be very useful for many applications. Herein we present an EKF-SLAM algorithm which allows using radio frequency (RF) beacons without any prior knowledge of their location. As RF beacons provide only range information, recovering their positions is not an easy task. For this range-only SLAM case, a new procedure to instantiate the beacons in the filter is proposed. The method uses two range measurements from different robot's positions to initialize two hypotheses for the beacon's location, which are then integrated in the filter as a Gaussian mixture. This approach is evaluated and compared to other initialization techniques in simulation and with a real dataset. The results show that our approach performs as well as the other existing methods for both trajectory and map errors with a low computational cost.
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https://hal.inria.fr/hal-01219746
Contributor : Olivier Kermorgant <>
Submitted on : Thursday, October 29, 2015 - 11:55:48 AM
Last modification on : Wednesday, April 22, 2020 - 11:16:04 PM
Long-term archiving on: : Thursday, April 27, 2017 - 2:58:43 PM

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  • HAL Id : hal-01219746, version 1

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Lionel Génevé, Olivier Kermorgant, Edouard Laroche. A Composite Beacon Initialization for EKF Range-Only SLAM. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. ⟨hal-01219746⟩

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