Particle Filter SLAM with High Dimensional Vehicle Model, Report no. LiTH-ISY-R-2863
نویسندگان
چکیده
This work presents a particle lter (pf) method closely related to Fastslam for solving the simultaneous localization and mapping (slam) problem. Using the standard Fastslam algorithm, only low-dimensional vehicle models can be handled due to computational constraints. In this work an extra factorization of the problem is introduced that makes high-dimensional vehicle models computationally feasible. Results using experimental data from a uav (helicopter) are presented. The proposed algorithm fuses measurements from on-board inertial sensors (accelerometer and gyro), barometer, and vision in order to solve the slam problem.
منابع مشابه
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تاریخ انتشار 2008