Robust Variational Bayesian Adaptive Cubature Kalman Filtering Algorithm for Simultaneous Localization and Mapping with Heavy-Tailed Noise

Simultaneous localization and mapping (SLAM) has been applied across a wide range of areas from robotics to automatic pilot. Most of the SLAM algorithms are based on the assumption that the noise is timeinvariant Gaussian distribution. In some cases, this assumption no longer holds and the performan...

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Veröffentlicht in:	Shanghai jiao tong da xue xue bao. Yi xue ban 2020-02, Vol.25 (1), p.76
Hauptverfasser:	Zhang, Zhuqing, Dong, Peng, Tuo, Hongya, Liu, Guangjun, Jia, He
Format:	Artikel
Sprache:	chi
Schlagworte:	Adaptive algorithms Adaptive filters Algorithms Automatic pilots Bayesian analysis Divergence Kalman filters Localization Mapping Noise Nonlinear systems Normal distribution Robotics Robustness Simultaneous localization and mapping
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