Using Multiple SLAM Algorithms

IEEE International Conference on Intelligent Robots and Systems

Volumn 1, Issue , 2003, Pages 200-205

  Julier, Simon J ^a   Uhlmann, Jeffrey K ^b  

^a IDAK Industries   (United States)

^b UNIVERSITY OF MISSOURI   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; KALMAN FILTERING; MATHEMATICAL MODELS; MATRIX ALGEBRA; REAL TIME SYSTEMS; VECTORS;

COVARIANCE INFLATION; LINEAR STORAGE;

MOBILE ROBOTS;

EID: 0347410630     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (17)

1. L. Matthies, Y. Xiong, R. Hogg, D. Zhu, A. Rankin, B. Kennedy, M. Hebert, R. Maclachlan, C. Won, T. Frost, G. Sukhatme, M. McHenry and S. Goldberg, "A portable, autonomous, urban reconnaissance robot," in Proceedings of the 6th International Conference on Intelligent Autonomous Systems, (Venice, Italy), July 2000.
2. E. T. Baumgartner, "In-situ exploration of Mars using rover systems," in Proceedings of the AIM Space 2000 Conference, (Long Beach, CA, USA), September 2000.
3. R. C. Smith, M. Self and P. Cheeseman, "Estimating uncertain spatial relationships in robotics," in Autonomous Robot Vehicles (I. J. Cox and G. T. Wilfong, ed.), pp. 167-193, Springer-Verlag, 1990.
4. S. Julier, "The stability of covariance infetion methods for slam." Submitted to the 2003 IEEE IROS Conference, Las Vegas, NV, USA, October 2003.
5. A. Davison, Mobile Robot Navigation Using Active Vision. PhD thesis, University of Oxford, 1999.
6. M. Csorba and H. F. Durrant-Whyte, "New Approach to Map Building Using Relative Position Estimates," in Proceedings of the SPIE AeroSense Conference, vol. 3087, (Orlando FL, USA), pp. 115-125, April 1997.
7. M. Bosse, P. Newman, J. Leonard, M. Soika, W. Feiten and S. Teller, "An Atlas Framework for Scalable Mapping," in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), (Taipei, Taiwan), May 2003.
8. M. Montemerlo, S. Thrun, D. Koller and B. Wegbreit, "FastSLAM: A factored solution to the simultaneous localization and mapping problem," in Proceedings of the AAAI National Conference on Artificial Intelligence, (Edmonton, Canada), AAAI, 2002.
9. J. Guivantand E. Nebot, "Optimization of the simultaneous localization and map building algorithm for real time implementation," IEEE Transactions on Robotics and Automation, vol. 17, pp. 242-257, June 2001. In press.
10. J. K. Uhlmann, Dynamic Map Building and Localization for Autonomous Vehicles. PhD thesis, University of Oxford, 1995.
11. J. Guivant, E. Nebot, "Solving the computational and memory requirements of feature based simultaneous localication and map building algorithms." Submitted IEEE transaction of Robotics and Automation, December 2001.
12. S. J. Julier, Comprehensive Process Models for High-Speed Navigation. PhD thesis, University of Oxford, October 1997.
13. P. S. Maybeck, Stochastic Models, Estimation, and Control, vol. 2. Academic Press, 1982.
14. S. J. Julier and H. F. Durrant-Whyte, "A horizontal model fusion paradigm," in The Proceedings of the SPIE AeroSense Conference: Navigation and Control Technologies for Unmannged Systems, vol. 2738, (Orlando FL, USA), pp. 37-48, 1996.
15. M. Csorba, Simultaneous Localisation and Map Building. PhD thesis, University of Oxford, 1997.
16. P. Newman, On the Structure and Solution of the Simultaneous Localisation and Map Building Problem. PhD thesis, University of Sydney, 1999.
17. S. J. Julier and J. K. Uhlmann, "Simultaneous localisation and map building using split covariance intersection," in Proceedings of IROS 2001, SPIE, November 2001.