8 search results - page 1 / 2 » On the complexity and consistency of UKF-based 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...
RSS
2007
13 years 6 months ago
2007
—In this paper we show that all processes associated to the move-sense-update cycle of EKF SLAM can be carried out in time linear in the number of map features. We describe Divid...
ICRA
2009
IEEE
13 years 11 months ago
2009
IEEE
— This paper addresses two key limitations of the unscented Kalman filter (UKF) when applied to the simultaneous localization and mapping (SLAM) problem: the cubic, in the numbe...
IJCAI
2003
13 years 6 months ago
2003
This paper presents a new efficient algorithm for simultaneous localization and mapping (SLAM), using multiple overlapping submaps, each built with respect to a local frame of re...
ICRA
2008
IEEE
13 years 11 months ago
2008
IEEE
— Recent work has demonstrated the benefits of adopting a fully probabilistic SLAM approach in sequential motion and structure estimation from an image sequence. Unlike standard...