Simultaneous Localization and Mapping Based on Kalman Filter and Extended Kalman Filter
نویسندگان
چکیده
منابع مشابه
Simultaneous Localization and Mapping with Limited Sensing Using Extended Kalman Filter and Hough Transform
Original scientific paper The problem of a robot to create a map of an unknown environment while correcting its own position based on the same map and sensor data is called Simultaneous Localization and Mapping problem. As the accuracy and precision of the sensors have an important role in this problem, most of the proposed systems include the usage of high cost laser range sensors, and relativ...
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In the following we assume that the random vector wk captures uncertainties in the model and vk denotes the measurement noise. Both are temporally uncorrelated (white noise), zero-mean random sequences with known covariances and both of them are uncorrelated with the initial state x0. E[wk] = 0 E[wkw T k ] = Qk E[wkw T j ] = 0 for k 6= j E[wkx T 0 ] = 0 for all k (3) E[vk] = 0 E[vkv T k ] = Rk ...
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ژورنال
عنوان ژورنال: Wireless Communications and Mobile Computing
سال: 2020
ISSN: 1530-8669,1530-8677
DOI: 10.1155/2020/2138643