Exactly Rao-Blackwellized unscented particle filters for SLAM

This paper addresses the limitation of the conventional Rao-Blackwellized unscented particle filters. The problem is on the usage of the overconfident optimal proposal distribution caused by perfect map assumption, so that predictive robot poses are sampled from the underestimated error covariance i...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Chanki Kim, Hyoungkyun Kim, Wan Kyun Chung
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Particle measurements Proposals Simultaneous localization and mapping Technological innovation Uncertainty Vehicles
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!