Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem in robotics with a large range of applications. This paper presents a novel approach to VSLAM by lifting the observer design to a novel Lie group on which the system output is equivariant. The perspective gained from this analysis facilitates the design of a non-linear observer with almost semi-globally asymptotically stable error dynamics. Simulations are provided to illustrate the behaviour of the proposed observer and experiments on data gathered using a fixed-wing UAV flying outdoors demonstrate its performance.
@article{arxiv.2006.05053,
title = {Constructive Observer Design for Visual Simultaneous Localisation and Mapping},
author = {Pieter van Goor and Robert Mahony and Tarek Hamel and Jochen Trumpf},
journal= {arXiv preprint arXiv:2006.05053},
year = {2026}
}