Comparative Study between EKF, SVSF, Combined SVSF-EKF, and ASVSF Approaches based Scale Estimation of Monocular SLAM

Elhaouari Kobzili, Ahmed Allam, Cherif Larbes

2022

Abstract

This paper presents a comparative study of scale recovering in monocular simultaneous localization and mapping (Mono-SLAM) by adopting and adapting four estimators into a multi-rate fusion mechanism and considering the scale as an element of the state vector. These estimators are: extended Kalman filter (EKF), smooth variable structure filter (SVSF), combined SVSF-EKF, and particularly adaptive smooth variable structure filter (ASVSF). The use of the ASVSF estimator represents the novelty of this paper because it provides a robust estimation of the trajectory scale as well as the covariance matrix at each iteration. This later represents the estimation incertitude. A second sensor is involved (inertial measurement unit (IMU)) as a reference to align the up to scale trajectory provided by the Mono-SLAM box. The designed system allows finding the scale factor with a rate not further than the IMU frequency and avoids complex synchronization. In order to outline the limitation of each estimator used for scale recovering, a deep analysis of the proposed approaches in terms of robustness, stability, accuracy, and real-time constraint was carried out.

Paper Citation

in Harvard Style

Kobzili E., Allam A. and Larbes C. (2022). Comparative Study between EKF, SVSF, Combined SVSF-EKF, and ASVSF Approaches based Scale Estimation of Monocular SLAM. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-585-2, pages 668-679. DOI: 10.5220/0011317100003271

in Bibtex Style

@conference{icinco22,
author={Elhaouari Kobzili and Ahmed Allam and Cherif Larbes},
title={Comparative Study between EKF, SVSF, Combined SVSF-EKF, and ASVSF Approaches based Scale Estimation of Monocular SLAM},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2022},
pages={668-679},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011317100003271},
isbn={978-989-758-585-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Comparative Study between EKF, SVSF, Combined SVSF-EKF, and ASVSF Approaches based Scale Estimation of Monocular SLAM
SN - 978-989-758-585-2
AU - Kobzili E.
AU - Allam A.
AU - Larbes C.
PY - 2022
SP - 668
EP - 679
DO - 10.5220/0011317100003271