Estimating odometry scale and UWB anchor location based on semidefinite programming optimization
In this letter, we study the problem of estimating the unknown metric scale of an odometry system and the 3D location of an Ultra-wideband (UWB) anchor in the environment. Firstly, we present a theoretical analysis of the problem which includes the derivation of Fisher Information Matrix (FIM) and i...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2022
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| Online Access: | https://hdl.handle.net/10356/163296 |
| _version_ | 1811691685549178880 |
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| author | Nguyen, Thien Hoang Xie, Lihua |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Nguyen, Thien Hoang Xie, Lihua |
| author_sort | Nguyen, Thien Hoang |
| collection | NTU |
| description | In this letter, we study the problem of estimating the unknown metric scale of an odometry system and the 3D location of an Ultra-wideband (UWB) anchor in the environment. Firstly, we present a theoretical analysis of the problem which includes the derivation of Fisher Information Matrix (FIM) and its determinant. Secondly, based on the FIM we provide an evaluation and geometric interpretation of singular configurations. Thirdly, we present an estimation-Trajectory optimization framework, which consists of a semidefinite programming (SDP) relaxation approach that solves the problem more effectively by exploiting the relationship between the parameters, and an FIM-based trajectory optimization approach that aims to minimize the uncertainty volume while remains easily adaptable to various scenarios. Simulation results show that our estimation method is more accurate and robust than previous approaches, while our trajectory optimization method can improve the estimator's performance even under challenging constraints. |
| first_indexed | 2024-10-01T06:23:49Z |
| format | Journal Article |
| id | ntu-10356/163296 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:23:49Z |
| publishDate | 2022 |
| record_format | dspace |
| spelling | ntu-10356/1632962022-11-30T06:53:16Z Estimating odometry scale and UWB anchor location based on semidefinite programming optimization Nguyen, Thien Hoang Xie, Lihua School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Sensor Fusion Visual Odometry In this letter, we study the problem of estimating the unknown metric scale of an odometry system and the 3D location of an Ultra-wideband (UWB) anchor in the environment. Firstly, we present a theoretical analysis of the problem which includes the derivation of Fisher Information Matrix (FIM) and its determinant. Secondly, based on the FIM we provide an evaluation and geometric interpretation of singular configurations. Thirdly, we present an estimation-Trajectory optimization framework, which consists of a semidefinite programming (SDP) relaxation approach that solves the problem more effectively by exploiting the relationship between the parameters, and an FIM-based trajectory optimization approach that aims to minimize the uncertainty volume while remains easily adaptable to various scenarios. Simulation results show that our estimation method is more accurate and robust than previous approaches, while our trajectory optimization method can improve the estimator's performance even under challenging constraints. National Research Foundation (NRF) This work was supported by the National Research Foundation , Singapore under its Medium Sized Center for Advanced Robotics Technology Innovation. 2022-11-30T06:53:16Z 2022-11-30T06:53:16Z 2022 Journal Article Nguyen, T. H. & Xie, L. (2022). Estimating odometry scale and UWB anchor location based on semidefinite programming optimization. IEEE Robotics and Automation Letters, 7(3), 7359-7366. https://dx.doi.org/10.1109/LRA.2022.3182110 2377-3766 https://hdl.handle.net/10356/163296 10.1109/LRA.2022.3182110 2-s2.0-85132791118 3 7 7359 7366 en IEEE Robotics and Automation Letters © 2022 IEEE. All rights reserved. |
| spellingShingle | Engineering::Electrical and electronic engineering Sensor Fusion Visual Odometry Nguyen, Thien Hoang Xie, Lihua Estimating odometry scale and UWB anchor location based on semidefinite programming optimization |
| title | Estimating odometry scale and UWB anchor location based on semidefinite programming optimization |
| title_full | Estimating odometry scale and UWB anchor location based on semidefinite programming optimization |
| title_fullStr | Estimating odometry scale and UWB anchor location based on semidefinite programming optimization |
| title_full_unstemmed | Estimating odometry scale and UWB anchor location based on semidefinite programming optimization |
| title_short | Estimating odometry scale and UWB anchor location based on semidefinite programming optimization |
| title_sort | estimating odometry scale and uwb anchor location based on semidefinite programming optimization |
| topic | Engineering::Electrical and electronic engineering Sensor Fusion Visual Odometry |
| url | https://hdl.handle.net/10356/163296 |
| work_keys_str_mv | AT nguyenthienhoang estimatingodometryscaleanduwbanchorlocationbasedonsemidefiniteprogrammingoptimization AT xielihua estimatingodometryscaleanduwbanchorlocationbasedonsemidefiniteprogrammingoptimization |