Constructive observer design for Visual Simultaneous Localisation and Mapping

Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem in robotics with large range of applications. This paper presents novel approach to VSLAM by lifting the observer design Lie group V SLAMn(3) on which system output equivariant. The perspective gained from this analysis facilitates non-linear almost semi-globally asymptotically stable error dynamics. Simulations are provided illustrate behaviour proposed experiments data gathered using fixed-wing UAV flying outdoors demonstrate its performance.