Publication

IMU preintegration for 2D SLAM problems using Lie Groups

Conference Article

Conference

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Edition

2022

Pages

1367-1373

Doc link

http://dx.doi.org/10.1109/IROS47612.2022.9981876

File

Download the digital copy of the doc pdf document

Abstract

2D SLAM is useful for mobile robots that are constrained to a 2D plane, for example in a warehouse, simplifying calculations in respect to the 3D case. The use of an IMU in such a context can enrich the estimation and make it more robust. In this paper we reformulate the IMU preintegration widely used in 3D problems for the 2D case, making use of Lie Theory. The Lie theory based formalization, first derived for a perfectly horizontal plane, allows us to easily extend it to problems where the plane is not orthogonal to the gravity vector. We implement the theory in a factor graph based estimation library, and carry out experiments to validate it on a mobile platform. Two experiments are carried out; on a horizontal and a sloped environment, and the sensor data is processed using our two 2D methods and a state-of-the-art 3D method.

Categories

automation, optimisation.

Author keywords

IMU, Mobile robotics, SLAM, estimation

Scientific reference

I. Geer, J. Vallvé and J. Solà. IMU preintegration for 2D SLAM problems using Lie Groups, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022, Kyoto, pp. 1367-1373.