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Earth-based Simultaneous Localization and Mapping for Drones in Dynamic Environments

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Abstract

This paper addresses the problem of simultaneous localization, mapping, and moving object tracking (SLAMMOT) with application to unmanned aerial vehicles inside uncertain environments with both static and moving objects. Although this problem has been addressed by the community, the usual approach is to identify the moving objects and remove them from contributing to the localization and mapping algorithm. Conversely, the proposed strategy integrates the moving objects in the vehicle motions estimation, without compromising its accuracy. The proposed solution is based on the design of: i) an extended Kalman filter (EKF); ii) a modified version of the multiple hypothesis tracking method to perform data association and track moving objects; and iii) and the interacting multiple model algorithm to identify the motion models described by the environment’s objects. The performance of the devised SLAMMOT filter is studied in simulation and validated with a new public experimental dataset using an RGB-D camera on-board an instrumented quadrotor with ground-truth.

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Authors and Affiliations

  1. Institute for Systems and Robotics (ISR-Lisbon), Laboratory for Robotics and Engineering Systems (LARSYS), Lisbon, Portugal

    Manuel Simas, Bruno J. Guerreiro & Pedro Batista

  2. Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal

    Manuel Simas & Pedro Batista

  3. Department of Electrical and Computer Engineering and CTS-UNINOVA, NOVA School of Science and Technology, Universidade Nova de Lisboa, Caparica, Portugal

    Bruno J. Guerreiro

Authors
  1. Manuel Simas
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  2. Bruno J. Guerreiro
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  3. Pedro Batista
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Correspondence to Bruno J. Guerreiro.

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*This work was partially funded by the FCT projects REPLACE (PTDC/EEI-AUT/32107/2017), CAPTURE (PTDC/EEI-AUT/1732/ 2020) and DECENTER (PTDC/EEI-AUT/29605/2017), which include Lisboa 2020 and PIDDAC funds, and also by projects LARSYS (UIDB/50009/2020) and CTS (UIDB/00066/2020).

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Simas, M., Guerreiro, B.J. & Batista, P. Earth-based Simultaneous Localization and Mapping for Drones in Dynamic Environments. J Intell Robot Syst 104, 58 (2022). https://doi.org/10.1007/s10846-022-01578-4

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