14 search results - page 1 / 3 » Analysis and improvement of the consistency of extended Kalm... |
ICRA
2008
IEEE
13 years 11 months ago
2008
IEEE
Abstract— In this work, we study the inconsistency of EKFbased SLAM from the perspective of observability. We analytically prove that when the Jacobians of the state and measurem...
ICRA
2005
IEEE
13 years 10 months ago
2005
IEEE
- The two dominant forms of SLAM are based on Extended Kalman Filtering and Consistent Pose Estimation. We show that these are particular subsets of a more general view of the SLAM...
IROS
2007
IEEE
13 years 11 months ago
2007
IEEE
— In this paper, we present an Extended Kalman Filter (EKF)-based estimator for simultaneous localization and mapping (SLAM) with processing requirements that are linear in the n...
ICRA
2003
IEEE
13 years 10 months ago
2003
IEEE
— The Extended Kalman Filter (EKF) has been the de facto approach to the Simultaneous Localization and Mapping (SLAM) problem for nearly fifteen years. However, the EKF has two ...
IROS
2006
IEEE
13 years 10 months ago
2006
IEEE
— This paper presents an analysis of the extended Kalman filter formulation of simultaneous localisation and mapping (EKF-SLAM). We show that the algorithm produces very optimis...