Using absolute non-Gaussian non-white observations in Gaussian SLAM

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2005, Issue , 2005, Pages 336-341

  Guivant, José ^a   Masson, Favio ^b  

^a UNIVERSITY OF SYDNEY   (Australia)

^b UNIVERSIDAD NACIONAL DEL SUR   (Argentina)

Author keywords

Compass; EKF; GPS; Non gaussian, non white noise; SLAM

Indexed keywords

GAUSSIAN NOISE (ELECTRONIC); GLOBAL POSITIONING SYSTEM; PARAMETER ESTIMATION; SENSORS; STANDARDIZATION;

COMPASS; EKF; NON-GAUSSIAN; NON-WHITE NOISE; SLAM;

SELF ORGANIZING MAPS;

EID: 33846137338     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2005.1570141     Document Type: Conference Paper

References (7)

1. J.A. Castellanos, J.M.M. Montiel, J. Neira, and J.D. Tardós. Sensor influence in the performance of simultaneous mobile robot localization and map building. Sixth International Symposium on Experimental Robotics, ISER'99, pages 203-212, March 1999. Sydney, Australia.
2. M.W.M.G. Dissanayake, P. Newman, H.F. Durrant-Whyte, S. Clark, and M. Csorba. An experimental and theoretical investigation into simultaneous localization and map building. Lecture Notes in Control and Information Sciences: Experimental Robotics VI, pages 265-274, 2000.
3. J. Guivant, F. Masson, and E. Nebot. Simultaneous localization and map building using natural features and absolute information. Robotics and Autonomous Systems, 40(2-3):79-90, August 2002.
4. J. Guivant and E. Nebot. Optimization of the simultaneous localization and map building algorithm for real time implementation. IEEE Transaction on Robotics and Automation, 17(3):242-257, June 2001.
5. John Leonard, Paul Neuman, R. Rikoski, Jose Neira, and J. D. Tardos. Towards robust data association and feature modeling for concurrent mapping and localization. International Symposium of Robotics Research, 2001. Lome, Australia.
6. S. J. Lulier and J.K. Uhlmann. A Non-Divergent Estimation Algorithm in the Presence of Unknown Correlations. Proc. 1997 American Control Conference, pages 2369-2373, 1997.
7. U. D. Hanebeck and J. Horn. Fusing Information Simulataneously Corrupted by Uncertainties with Known Bounds and Random Noise with Known Distribution. Information Fusion , 1(1):55-63, 2000.