Title :
Using Absolute Non-Gaussian Non-White Observations in Gaussian SLAM
Author :
Guivant, José ; Masson, Favio
Author_Institution :
Australian Centre For Field Robotics The University of Sydney The Rose Street Building J04, NSW 2006, Sydney, Australia jguivant@acfr.usyd.edu.au
Abstract :
In the navigation context it is typical the presence of sensors that introduce uncertainties that cannot be modeled as white Gaussian noise. Such measures cannot be directly used in gaussian estimators. This paper presents a technique that allows the consistent processing of this type of measurements in combination with a standard EKF estimator. The method can be applied in an efficient implementation of SLAM based on a Gaussian estimator.
Keywords :
Compass; EKF; GPS; Non-Gaussian; SLAM; non-white noise; Australia; Gaussian noise; Global Positioning System; Information filtering; Navigation; Nonlinear filters; Probability distribution; Simultaneous localization and mapping; Uncertainty; White noise; Compass; EKF; GPS; Non-Gaussian; SLAM; non-white noise;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570141
