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An iterated extended kalman filter for 3D mapping via kinect camera Ling, L, Cheng, E and Burnett, I 2013, 'An iterated extended kalman filter for 3D mapping via kinect camera', in R. Ward and L. Deng (ed.) Proceedings of 2013 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), Vancouver, Canada, 26-31 May 2013, pp. 1773-1777. Document type: Conference Paper Collection: Conference Papers Title An iterated extended kalman filter for 3D mapping via kinect camera Author(s) Ling, L Cheng, E Burnett, I Year 2013 Conference name ICASSP 2013 Conference location Vancouver, Canada Conference dates 26-31 May 2013 Proceedings title Proceedings of 2013 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP) Editor(s) R. Ward and L. Deng Publisher IEEE Place of publication Piscataway, USA Start page 1773 End page 1777 Total pages 5 Abstract This paper proposes the use of the Iterated Extended Kalman Filter (IEKF) in a real-time 3D mapping framework applied to Microsoft Kinect RGB-D data. Standard EKF techniques typically used for 3D mapping are susceptible to errors introduced during the state prediction linearization and measurement prediction. When models are highly nonlinear due to measurement errors e.g., outliers, occlusions and feature initialization errors, the errors propagate and directly result in divergence and estimation inconsistencies. To prevent linearized error propagation, this paper proposes repetitive linearization of the nonlinear measurement model to provide a running estimate of camera motion. The effects of iterated-EKF are experimentally simulated with synthetic map and landmark data on a range and bearing camera model. It was shown that the IEKF measurement update outperforms the EKF update when the state causes nonlinearities in the measurement function. In the real indoor environment 3D mapping experiment, more robust convergence behavior for the IEKF was demonstrated, whilst the EKF updates failed to converge. Subjects Signal Processing Keyword(s) Iterated Extended Kalman Filter 3D Reconstruction Kinect DOI - identifier 10.1109/ICASSP.2013.6637957 Copyright notice © 2013 IEEE ISBN 9781479903566 Related Links Link Description http://dx.doi.org/10.1109/ICASSP.2013.6637957 Link to Published Version   Versions Version Filter Type Wed, 11 Jun 2014, 08:28:07 EST Thu, 19 Jun 2014, 01:34:44 EST Filtered Full Citation counts:   Cited 6 times in Thomson Reuters Web of Science Article | Citations Cited 3 times in Scopus Article | Citations Altmetric details: Access Statistics: 167 Abstract Views  -  Detailed Statistics Created: Tue, 10 Jun 2014, 13:08:00 EST by Catalyst Administrator