Robocentric map joining: Improving the consistency of EKF-SLAM

Robotics and Autonomous Systems

Volumn 55, Issue 1, 2007, Pages 21-29

  Castellanos, J A ^a   Martinez Cantin, R ^a   Tardos J D ^a   Neira, J ^a  

^a UNIVERSITY OF ZARAGOZA   (Spain)

Author keywords

Consistency; Extended Kalman filter; Linearization errors; Map joining; Robocentric; SLAM

Indexed keywords

ALGORITHMS; AUTONOMOUS AGENTS; COMPUTER SIMULATION; CONFORMAL MAPPING; MATHEMATICAL MODELS; MOTION ESTIMATION; VEHICLES;

EXTENDED KALMAN FILTERS; LINEARIZATION ERRORS; ROBOCENTRIC MAP JOINING; SIMULTANEOUS LOCALIZATION AND MAPPING (SLAM);

KALMAN FILTERING;

EID: 33751169805     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2006.06.005     Document Type: Article

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