Synchronous Observer Design for Landmark-Inertial SLAM with Almost-Global Convergence

TL;DR

This paper introduces a nonlinear observer for Landmark-Inertial SLAM that guarantees almost-global convergence and stability, validated through theoretical analysis and simulations.

Contribution

It proposes a novel continuous-time nonlinear observer for LI-SLAM with proven stability properties and comprehensive analysis in the observable state space.

Findings

The observer achieves local exponential stability.

The observer demonstrates almost-global asymptotic stability.

Simulation results validate the theoretical stability claims.

Abstract

Landmark Inertial Simultaneous Localisation and Mapping (LI-SLAM) is the problem of estimating the locations of landmarks in the environment and the robot's pose relative to those landmarks using landmark position measurements and measurements from Inertial Measurement Unit (IMU). This paper proposes a nonlinear observer for LI-SLAM posed in continuous time and analyses the observer in a base space that encodes all the observable states of LI-SLAM. The local exponential stability and almost-global asymptotic stability of the error dynamics in base space is established in the proof section and validated using simulations.