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题名: Improving Consistency of EKF-based SLAM Algorithms by Using Accurate Linear Approximation
作者: Sun RC(孙荣川) ; Ma SG(马书根) ; Li B(李斌) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: IEEE/ASME International Conference on Advanced Intelligent Mechatronics
会议日期: July 2-5, 2008
会议地点: XIan, China
会议主办者: IEEE
会议录: 2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2008
页码: 619-624
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-2494-8
摘要: This paper presents a modified EKF-based SLAM algorithm to improve the consistency of the EKF-based SLAM algorithms. The proposed algorithm extracts the exact linear approximation of the measurements, which is considered as a variable, updates it using the new measurements, and finally transforms it back into the original state. The exact linear approximation is achieved by maintaining the point for linearization and updated along with the state. In this way, the structure of the variables being updated is more accurate, and the inconsistency of the EKF-based SLAM is greatly reduced, while at the same time, the computation and memory requirements do not increase too much. Simulation and experiment results demonstrate the advantages of the new algorithm.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8738
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
孙荣川; 马书根; 李斌; 王越超.Improving Consistency of EKF-based SLAM Algorithms by Using Accurate Linear Approximation.见:IEEE .2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3,NEW YORK,2008,619-624
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