An Iterated Extended Kalman Filter for 3D mapping via Kinect camera

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.