Improving the real-time efficiency of inertial SLAM and understanding its observability

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Volumn 1, Issue , 2004, Pages 21-26

  Kim, Jonghyuk ^a   Sukkarieh, Salah ^a  

^a UNIVERSITY OF SYDNEY   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTATIONAL COMPLEXITY; KALMAN FILTERING; NAVIGATION; REAL TIME SYSTEMS; ROBOT APPLICATIONS; SENSORS;

ESTIMATION ALGORITHMS; OBSERVABILITY ANALYSIS; OBSERVABILITY MATRIX; POSITION ERRORS;

POSITION CONTROL;

EID: 14044254262     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

1. D. Goshen-Meskin and I.Y. Bar-Itzhack. Observability Analysis of Piece-wise Constant Systems-Part I: Theory. In IEEE Transactions on Aerospace and Electronic Systems, 28(4): 1056-1067, 1992.
2. J. Guivant and E. Nebot. Optimization of the simultaneous localization and map building algorithm for real-time implementation. In IEEE Transactions on Robotics and Automation, 17(3):242-257, 2001.
3. J. Kim and S. Sukkarieh. Airborne Simultaneous Localisation and Map Building. In Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, 2003.
4. J. Kim and S. Sukkarieh. Recasting SLAM - Towards Improving Efficiency and Platform Independency. In International Symposium on Robotics Research, Siena, Italy, 2003.
5. J. Kim, S. Sukkarieh, E. Nebot, and I. Guivant. On the Effects of using Heading Information during In-flight Alignment of a Low-cost IMU/GPS Integrated System. In International Conference of Field and Service Robotics, pages 55-60, Helsinki, Finland, June 2001.
6. S. Sukkarieh. Aided Inertial Navigation Systems for Autonomous Land Vehicles. Phd thesis, Australian Centre for Field Robotics, The University of Sydney, 1999.