The Spherical Simplex Unscented Transformation for a FastSLAM

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

The Scaled Unscented Transformation

This paper describes a generalisation of the unscented transformation (UT) which allows sigma points to be scaled to an arbitrary dimension. The UT is a method for predicting means and covariances in nonlinear systems. A set of samples are deterministically chosen which match the mean and covariance of a (not necessarily Gaussian-distributed) probability distribution. These samples can be scale...

متن کامل

A FastSLAM Algorithm Based on the Unscented Filtering with Adaptive Selective Resampling

A FastSLAM approach to the SLAM problem is considered in this paper. An improvement to the classical FastSLAM algorithm has been obtained by replacing the Extended Kalman Filters used in the prediction step and in the feature update with Unscented Kalman Filters and by introducing an adaptive selective resampling. The simulations confirm the effectiveness of the proposed modifications.

متن کامل

Dual Estimation and the Unscented Transformation

Dual estimation refers to the problem of simultaneously estimating the state of a dynamic system and the model which gives rise to the dynamics. Algorithms include expectation-maximization (EM), dual Kalman filtering, and joint Kalman methods. These methods have recently been explored in the context of nonlinear modeling, where a neural network is used as the functional form of the unknown mode...

متن کامل

An Improved FastSLAM Framework Based on Particle Swarm Optimization and Unscented Particle Filter ⋆

FastSLAM is a framework which solves the problem of simultaneous localization and mapping using a Rao-Blackwellized particle filter. Conventional FastSLAM is known to degenerate over time in terms of accuracy due to the particle depletion in resampling phase. To solve this problem, a FastSLAM method based on particle swarm optimization and unscented particle filter is proposed. The number of pa...

متن کامل

Covariance estimation for minimal geometry solvers via scaled unscented transformation

Covariance is a well-established characterization of the output uncertainty for estimators dealing with noisy data. It is conventionally estimated via first-order forward propagation (FOP) of input covariance. However, since FOP employs a local linear approximation of the estimator, its reliability is compromised in the case of nonlinear transformations. An alternative method, scaled unscented ...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Journal of System Design and Dynamics

سال: 2012

ISSN: 1881-3046

DOI: 10.1299/jsdd.6.713