DocumentCode
2091917
Title
Consistency improvement for SLAM - EKF for indoor environments
Author
Rodriguez-Losada, Diego ; Matia, Fernando ; Jimenez, Agustin ; Galan, Ramon
Author_Institution
Univ. Politecnica de Madrid
fYear
2006
fDate
15-19 May 2006
Firstpage
418
Lastpage
423
Abstract
The solution to the simultaneous localization and mapping (SLAM) problem using an extended Kalman filter (EKF) is the most extended despite the inconsistency of its estimation, a problem that has been largely avoided in the literature. We review current existing approaches and present novel solutions to this problem that let us to build large monolithic feature based maps of indoor environments
Keywords
Kalman filters; mobile robots; path planning; extended Kalman filter; mobile robots; simultaneous localization and mapping; Computational complexity; Gaussian distribution; Indoor environments; Information filters; Mobile robots; Particle filters; Robot kinematics; Robotics and automation; Simultaneous localization and mapping; Stochastic processes;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location
Orlando, FL
ISSN
1050-4729
Print_ISBN
0-7803-9505-0
Type
conf
DOI
10.1109/ROBOT.2006.1641747
Filename
1641747
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