距離のみによる軌道推定のための最適な初期化戦略
Optimal Initialization Strategies for Range-Only Trajectory Estimation
距離測定のみからロボットの軌道を推定する問題に対し、半正定値計画緩和を用いて高精度な初期姿勢・軌道推定を行う手法を提案し、シミュレーションと実機実験で有効性を示した。
著者: Abhishek Goudar, Frederike Dümbgen, Timothy D. Barfoot, Angela P. Schoellig
分類: cs.RO
原文アブストラクト
Range-only (RO) pose estimation involves determining a robot's pose over time by measuring the distance between multiple devices on the robot, known as tags, and devices installed in the environment, known as anchors. The nonconvex nature of the range measurement model results in a cost function with possible local minima. In the absence of a good initialization, commonly used iterative solvers can get stuck in these local minima resulting in poor trajectory estimation accuracy. In this work, we propose convex relaxations to the original nonconvex problem based on semidefinite programs (SDPs). Specifically, we formulate computationally tractable SDP relaxations to obtain accurate initial pose and trajectory estimates for RO trajectory estimation under static and dynamic (i.e., constant-velocity motion) conditions. Through simulation and real experiments, we demonstrate that our proposed initialization strategies estimate the initial state accurately compared to iterative local solvers. Additionally, the proposed relaxations recover global minima under moderate range measurement noise levels.
