A Right Invariant Extended Kalman Filter for Object based SLAM
This work addresses consistency issues in SLAM for robotics applications, representing an incremental improvement over existing methods.
The paper tackles the problem of object-based SLAM by proposing a right invariant extended Kalman filter (RI-EKF) based on a novel Lie group structure, which improves consistency compared to standard EKF, as validated through simulations and real-world experiments.
With the recent advance of deep learning based object recognition and estimation, it is possible to consider object level SLAM where the pose of each object is estimated in the SLAM process. In this paper, based on a novel Lie group structure, a right invariant extended Kalman filter (RI-EKF) for object based SLAM is proposed. The observability analysis shows that the proposed algorithm automatically maintains the correct unobservable subspace, while standard EKF (Std-EKF) based SLAM algorithm does not. This results in a better consistency for the proposed algorithm comparing to Std-EKF. Finally, simulations and real world experiments validate not only the consistency and accuracy of the proposed algorithm, but also the practicability of the proposed RI-EKF for object based SLAM problem. The MATLAB code of the algorithm is made publicly available.