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    ICRA
    2008
    IEEE
    157views Robotics» more  ICRA 2008»
    Analysis and improvement of the consistency of extended Kalman filter based SLAM
    13 years 10 months ago
    Analysis and improvement of the consistency of extended Kalman filter based SLAM
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    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...
    Guoquan Huang, Anastasios I. Mourikis, Stergios I....
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