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Non-gaussian state estimation in an outdoor decentralised sensor network

  • This paper presents the development and demonstration of non-Gaussian, decentralised state estimation using an outdoor sensor network consisting of an autonomous air vehicle, a manual ground vehicle, and two human operators. The location and appearance of landmarks were estimated using bearing only observations from monocular cameras. We show that inclusion of visual and identity information aids validation gating for data association when geometric information alone cannot discriminate individual landmarks. The combination of geometric, appearance, and identity information provided a common description (or map) of natural features for each of the nodes in the network. We also show the final map from the live demonstration which includes position estimates and classification labels of the observed features.

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Author:Hugh Durrant-Whyte, Salah Sukkarieh, Fabio Ramos, Tim Bailey, Suresh Kumar, Lee-Ling Ong, Matthew Ridley, Tobias Kaupp, Bertrand Douillard, Ben Upcroft
DOI:https://doi.org/10.1109/CDC.2006.377533
Parent Title (English):Proceedings of the 45th IEEE Conference on Decision and Control
Publisher:IEEE
Place of publication:Piscataway
Document Type:Conference Proceeding
Language:English
Year of publication:2006
Release Date:2023/07/19
Pages/Size:7
First Page:366
Last Page:372
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