Nondivergent simultaneous map building and localization using covariance intersection

Proceedings of SPIE - The International Society for Optical Engineering

Volumn 3087, Issue , 1997, Pages 2-11

  Uhlmann, Jeffrey K ^a   Julier, Simon ^a   Csorba, Michael ^a  

^a NAVAL RESEARCH LABORATORY   (United States)

Author keywords

Autonomous vehicles; Covariance Intersection; Data fusion; Filtering; Kalman filter; Map building; Matrix inequalities; Nonlinear filtering

Indexed keywords

CORRELATION METHODS; MATHEMATICAL MODELS; MATRIX ALGEBRA; OPTICAL FILTERS; SENSOR DATA FUSION;

COVARIANCE INTERSECTION;

KALMAN FILTERING;

EID: 0031288658     PISSN: 0277786X     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1117/12.277216     Document Type: Conference Paper

References (7)

1. Map building using relative estimates
2. A new approach to simultaneous localization and dynamic map building
3. A nondivergent estimation algorithm in the presence of unknn correlations
4. Stochastic multisensory data fusion for mobile robot location and environment modelling
5. General data fusion for estimates with unknown cross covariances