An analysis of the bias correction problem in simultaneous localization and mapping

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2005, Pages 747-752

  Wijesoma, W S ^a   Perera, L D L ^a   Adams, M D ^a   Challa, S ^b  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

^b UNIVERSITY OF TECHNOLOGY SYDNEY   (Australia)

Author keywords

Convergence; Localization; Mapping

Indexed keywords

CALIBRATION; INTELLIGENT ROBOTS; MAPPING; SYSTEMATIC ERRORS;

AUTONOMOUS NAVIGATION; CONVERGENCE; LOCALIZATION; MEASUREMENT PROCESS; NONSYSTEMATIC ERRORS; RATES OF CONVERGENCE; SIMULTANEOUS LOCALIZATION AND MAPPING; SIMULTANEOUS LOCALIZATION AND MAPPING ALGORITHMS;

ROBOTICS;

EID: 79958005280     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2005.1544952     Document Type: Conference Paper

References (19)

1. R. Smith, M. Self, and P. Cheeseman. A stochastic map for uncertain spatial relationships, Fourth International Symposium of Robotics Research, pages 467-474, 1987.
2. M.W.M.G. Dissanayeke, P. Newman, S. Cleark, H.F. Durrant-Whyte and M. Csorba, "A Solution to the Simultaneous Localization and Map Building (SLAM) Problem", IEEE Transactions on Robotics and Automation, Vol 17, No 3, pp 229-241, June 2001. (Pubitemid 32829731)
3. P. Moutarlier, R Chatila, Stochastic Multisensory Data Fusion for Mobile Robot Location and Environmental Modeling. Fifth International Symposiam of Robotics Research, pp 85-94, 1989.
4. N Ayache, O. Faugeras, Maintaining a Representation of the Environment of a Mobile Robot, IEEE Transactions on Robotics and Automation, Vol. 5, 1989.
5. M. Montermerlo, S. Thrun, D. Koller, B Wegbreit., FastSLAM: A factored solution to the simultaneous localization and mapping problem., AAAI, 2002.
6. M. Montermerlo, S. Thrun, W. Whittaker, Conditional Particle Filters for Simultaneous Localization and People tracking, Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington DC, pp 695-701, May 2002. (Pubitemid 34916676)
7. S. Majumder, "Sensor Fusion and Feature Based Navigation for Subsea Robots", PhD thesis, Australian Center for Field Robotics, School of Aerospace, Mechanical and Mechatronic Engineering, University of Sydney, 2001.
8. M. Bosse, J. Leonard, M. Soika, W. Feiten, S. Teller, "An Atlas framework for Scalable Mapping", Proceedings of the 2003 IEEE Conference on Robotics and Automation, Taipei, Taiwan, pp 1899-1906, September 14-19, 2003.
9. st Euromicro Workshop on Advanced Mobile Robots, IEEE Computer Society Press, 1996.
10. Billur Barshan and Hugh Durrant Whyte, Inertial Navigation Systems for Mobile Robots, IEEE Transactions on Robotics and Automation, Vol 11, No 3, June 1995.
11. S.B. Williams, "Efficient Solutions to Autonomous Mapping and Navigation Problems", Ph.D. thesis, Australian Center for Field Robotics, School of Aerospace, Mechanical and Mechatronic Engineering, University of Sydney, pp 133-164, 2001.
12. B. Friedland, Treatment of Bias in Recursive Filtering, IEEE Transactions on Automatic Control, AC-14, pp 359-367, 1969.
13. M.B. Igngni, Optimal and Suboptimal Separate Bias Kalman Estimators for a Stochastic Bias, IEEE Transactions on Automatic Control, Vol 45-3, pp 547-551, 2000.
14. S. Cleark, "Autonomous land vehicle Navigation Using Millimeter Wave Radar", Ph.D thesis, Australian Centre for Field Robotics, Department of Aerospace, Mechanical and Mechatronics Engineering, University of Sydney Australia., January 1999.
15. M. Csorba, "Simultaneous Localization and Map Building", Ph.D Thesis, Robotics Research Group, Department of Engineering Science, Oxford University, February 1997.
16. R. A. Horn, C.R. Johnson, "Matrix Analysis", Cambridge University Press, 1985.
17. th IEEE Conference on Decision and control, Sydney, Australia, pp 191-196, December 2000. (Pubitemid 32528717)
18. J.A Cetto, "Environmental Learning for Indoor Mobile Robots", Ph.D. Thesis, Institut de Robòtica i Informàtica Industrial, Universitat Politècnica de Catalunya, Barcelona, Spain.
19. nd Edition, John Willy and Sons INC, 1992.