Neural extended Kalman filter for monocular SLAM in indoor environment
Abstract
The extended Kalman filter (EKF) has become a popular solution for the simultaneous localization and mapping (SLAM). This paper presents the implementation of the EKF coupled with a feedforward neural network for the monocular SLAM. The neural extended Kalman filter (NEKF) is applied online to approximate an error between the motion model of the mobile robot and the real system performance. Inadequate modeling of the robot motion can jeopardize the quality of estimation. The paper shows integration of EKF with feedforward neural network and simulation analysis of its consistency and implementation of the NEKF with a mobile robot, laboratory experimental environment, and a simple USB camera. The simulation and experimental results show that integration of neural network into EKF prediction-correction cycle results in improved consistency and accuracy.
Keywords:
monocular camera / Mobile robot / inverse depth / feedforward neural network / extended Kalman filterSource:
Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie, 2016, 230, 5, 856-866Publisher:
- Sage Publications Ltd, London
Funding / projects:
- An innovative ecologically based approach to implementation of intelligent manufacturing systems for production of sheet metal parts (RS-MESTD-Technological Development (TD or TR)-35004)
DOI: 10.1177/0954406215586589
ISSN: 0954-4062
WoS: 000372519200012
Scopus: 2-s2.0-84960888477
Collections
Institution/Community
Mašinski fakultetTY - JOUR AU - Miljković, Zoran AU - Vuković, Najdan AU - Mitić, Marko PY - 2016 UR - https://machinery.mas.bg.ac.rs/handle/123456789/2472 AB - The extended Kalman filter (EKF) has become a popular solution for the simultaneous localization and mapping (SLAM). This paper presents the implementation of the EKF coupled with a feedforward neural network for the monocular SLAM. The neural extended Kalman filter (NEKF) is applied online to approximate an error between the motion model of the mobile robot and the real system performance. Inadequate modeling of the robot motion can jeopardize the quality of estimation. The paper shows integration of EKF with feedforward neural network and simulation analysis of its consistency and implementation of the NEKF with a mobile robot, laboratory experimental environment, and a simple USB camera. The simulation and experimental results show that integration of neural network into EKF prediction-correction cycle results in improved consistency and accuracy. PB - Sage Publications Ltd, London T2 - Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie T1 - Neural extended Kalman filter for monocular SLAM in indoor environment EP - 866 IS - 5 SP - 856 VL - 230 DO - 10.1177/0954406215586589 ER -
@article{ author = "Miljković, Zoran and Vuković, Najdan and Mitić, Marko", year = "2016", abstract = "The extended Kalman filter (EKF) has become a popular solution for the simultaneous localization and mapping (SLAM). This paper presents the implementation of the EKF coupled with a feedforward neural network for the monocular SLAM. The neural extended Kalman filter (NEKF) is applied online to approximate an error between the motion model of the mobile robot and the real system performance. Inadequate modeling of the robot motion can jeopardize the quality of estimation. The paper shows integration of EKF with feedforward neural network and simulation analysis of its consistency and implementation of the NEKF with a mobile robot, laboratory experimental environment, and a simple USB camera. The simulation and experimental results show that integration of neural network into EKF prediction-correction cycle results in improved consistency and accuracy.", publisher = "Sage Publications Ltd, London", journal = "Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie", title = "Neural extended Kalman filter for monocular SLAM in indoor environment", pages = "866-856", number = "5", volume = "230", doi = "10.1177/0954406215586589" }
Miljković, Z., Vuković, N.,& Mitić, M.. (2016). Neural extended Kalman filter for monocular SLAM in indoor environment. in Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie Sage Publications Ltd, London., 230(5), 856-866. https://doi.org/10.1177/0954406215586589
Miljković Z, Vuković N, Mitić M. Neural extended Kalman filter for monocular SLAM in indoor environment. in Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie. 2016;230(5):856-866. doi:10.1177/0954406215586589 .
Miljković, Zoran, Vuković, Najdan, Mitić, Marko, "Neural extended Kalman filter for monocular SLAM in indoor environment" in Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie, 230, no. 5 (2016):856-866, https://doi.org/10.1177/0954406215586589 . .