The Spherical Simplex Unscented Transformation

Proceedings of the American Control Conference

Volumn 3, Issue , 2003, Pages 2430-2434

  Julier, Simon J ^a  

^a IDAK Industries   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; APPROXIMATION THEORY; NONLINEAR SYSTEMS; PARAMETER ESTIMATION; SET THEORY;

UNSCENTED TRANSFORMATION (UT);

MATHEMATICAL TRANSFORMATIONS;

EID: 0142153092     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (12)

1. H. W. Sorenson, Ed., Kalman filtering: theory and application. Piscataway NJ, USA: IEEE Press, 1985.
2. D. Lerro and Y. K. Bar-Shalom, "Tracking with debiased consistent converted measurements vs. ekf," IEEE Transactions on Aerospace and Electronics Systems, vol. AES-29, no. 3, pp. 1015-1022, July 1993.
3. M. Athans, R. P. Wishner and A. Bertolini, "Suboptimal state estimation for continuous-time nonlinear systems from discrete noisy measurements," IEEE Transactions on Automatic Control, vol. TAC-13, no. 6, pp. 504-518, October 1968.
4. F. E. Daum, "New Exact Nonlinear Filters," in Bayesian Analysis of Time Series and Dynamic Models, J. C. Spall, Ed. Marcel Drekker, Inc., 1988, ch. 8, pp. 199-226.
5. N. J. Gordon, D. J. Salmond and A. F. M. Smith, "Novel approach to nonlinear/non-gaussian bayesian state estimation," IEE Proceedings-F, vol. 140, no. 2, pp. 107-113, April 1993.
6. S. Thrun D. Fox, W. Burgard and F. Dellaert, "Robust monte carlo localization for mobile robots," Artificial Intelligence, no. 101, pp. 99-141, 2000.
7. S. J. Julier and H. F. Durrant-Whyte, "Navigation and Parameter Estimation of High Speed Road Vehicles," in Robotics and Automation Conference, Nagoya, Japan., 1995, pp. 101-105.
8. S. J. Julier, J. K. Uhlmann and H. F. Durrant-Whyte, "A new approach for the nonlinear transformation of means and covariances in filters and estimators," IEEE Transactions on Automatic Control, vol. 45, no. 3, pp. 477-482, March 2000.
9. S. J. Julier, and J. K. Uhlmann, "Reduced Sigma Point Filters for the Propagation of Means and Covariances through Nonlinear Transformations," in Proceedings of the IEEE American Control Conference. Anchorage AK, USA: IEEE, 8-10 May 2002, pp. 887-892.
10. S. J. Julier and J. K. Uhlmann, "A Counter Example to the Theory of Simultaneous Localization and Map Building," in Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, 21-26 May 2001.
11. R. Smith, M. Self and P. Cheeseman, Estimating Uncertain Spatial Relationships in Robotics, Autonomous Robot Vehicles. Springer-Verlag, 1989.
12. H. F. Durrant-Whyte, "An autonomous guided vehicle for cargo handling applications," International Journal of Robotics Research, vol. 15, no. 5, pp. 407-440, October 1996.