Handling the inconsistency of relative map filter

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2005, Issue , 2005, Pages 649-654

  Nguyen, Viet ^a   Martinelli, Agostino ^a   Siegwart, Roland ^a  

^a EPFL   (Switzerland)

Author keywords

Localization; Mapping; Mobile robot navigation; SLAM

Indexed keywords

COMPUTATIONAL GEOMETRY; CONSTRAINT THEORY; CORRELATION METHODS; KALMAN FILTERING; MAPPING; PROBLEM SOLVING;

MOBILE ROBOT NAVIGATION; RELATIVE MAP FILTER (RMF); SIMULTANEOUS LOCALIZATION AND MAP BUILDING (SLAM);

ROBOTICS;

EID: 33846173958     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2005.1570191     Document Type: Conference Paper

References (8)

1. Y. Bar-Shalom, X.-R. Li, and T. Kirubarajan. Estimation with Applications To Tracking and Navigation. John Wiley & Sons, Inc., 2001.
2. M. Csorba, J. K. Uhlmann, and H. F. Durrant-Whyte. A Sub Optimal Algorithm For Automatic Map Building. In Proceedings of the American Control Conference, New Mexico, 1997.
3. M. C. Deans and M. Hebert. Invariant Filtering for Simultaneous Localization and Mapping. In Proceedings of the International Conference on Robotics and Automation, volume 2, pages 1042-1047, USA, 2000.
4. A. Martinelli and R. Siegwart. Improving the SLAM Convergence with a Relative Map Filter. In Proceedings of the International Conference on Intelligent Autonomous Systems - IAS' 2004, Netherlands, 2004.
5. A. Martinelli, N. Tomatis, and R. Siegwart. Open Challenges in SLAM: An Optimal Solution Based on Shift and Rotation Invariants. In Proceedings of the International Conference on Robotics and Automation - ICRA'2004, 2004.
6. P. Newman. On the Structure and Solution of the Simultaneous Localization and Mapping Problem. PhD thesis, Australian Center for Field Robotics, University of Sydney, 1999.
7. P. Newman and H. Durrant-Whyte. A New Solution to the Simultaneous Localisation and Map Building (SLAM) Problem - the GPF. In Proceedings of the SPIE conference, Boston, USA, 2001.
8. R. Smith, M. Self, and P. Cheeseman. Estimating Uncertain Spatial Relationships in Robotics. In Autonomous Robot Vehicles. Springer-Verlag, 1990.