Generalized architecture for simultaneous localization, auto-calibration, and map-building

IEEE International Conference on Intelligent Robots and Systems

Volumn 1, Issue , 2002, Pages 527-533

  Foxlin, Eric M ^a  

^a InterSense Inc   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; GLOBAL POSITIONING SYSTEM; KALMAN FILTERING; MATRIX ALGEBRA; NAVIGATION; VECTORS;

CARLSON FEDERATED FILTER ALGORITHM; INSIDE-OUT BEARING SENSORS; OUTSIDE-IN BEARING SENSORS; RANGE SENSORS; SENSOR FUSION ALGORITHMS; SIMULTANEOUS LOCALIZATION AND MAP BUILDING;

MOBILE ROBOTS;

EID: 0036452995     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (11)

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3. Leonard, J.J., & Feder, H.J.S. (2000). A Computationally Efficient Method for Large-Scale Concurrent Mapping and Localization. Robotics Research: The Ninth International Symposium, J. Hollerbach & D. Koditschek (Eds.) London: Springer-Verlag.
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8. Julier, S.J. & Uhlmann, J.K. (1997). A Non-Divergent Estimation Algorithm in the Presence of Unknown Correlations. Proc. of the American Control Conference.
9. Castellanos, J.A., Tards, J.D. & Schmidt, G. (1997). Building a Global Map of the Environment of a Mobile Robot: The Importance of Correlations. Proc. IEEE ICRA.
10. Csorba, M., Uhlmann, J.K. & Durrant-Whyte, H.F. (1997) A Sub Optimal Algorithm for Automatic Map Building. In Proceedings of the American Control Conference, Albuquerque, NM, pp. 537-541
11. Guivant, J. & Nebot, E. (2001). Optimization of the Simultaneous Localization and Map-Building Algorithm for Real-Time Implementation. IEEE Trans. on Robotics and Automation 17(3), pp. 242-257