NDLI: A new smallest sigma set for the Unscented Transform and its applications on SLAM

Content Provider	IEEE Xplore Digital Library
Author	Menegaz, H.M. Ishihara, J.Y. Borges, G.A.
Copyright Year	2011
Description	Author affiliation: Laboratório de Robótica e Automação (LARA) at the Department of Electrical Engineering, University of Brasília, DF, Brasil (Menegaz, H.M.; Ishihara, J.Y.; Borges, G.A.)
Abstract	In this work we propose a new set of sigma points for the Unscented Transform that uses the minimum number of points. We than compare this new set with the symmetric set, the reduced set, and the spherical set. Simulations comparing this sets are done to verify the properties of this set and to verify their transforms. Lastly, we simulate each of these sets in a recursive filter for SLAM. The results show that our set is a better choice for a non symmetric prior distribution and still a good alternative for symmetric prior distributions.
Starting Page	3172
Ending Page	3177
File Size	278225
Page Count	6
File Format	PDF
ISBN	9781612848006
ISSN	07431546
e-ISBN	9781612848013
e-ISBN	9781612847993
DOI	10.1109/CDC.2011.6161480
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-12
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Covariance matrix Vectors Transforms Noise Taylor series Simultaneous localization and mapping Random variables
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Modeling and Simulation Control and Optimization

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Libarray of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Novel mobile robot FastSLAM based on unscented transform

Unscented H∞ filter based simultaneous localization and mapping

SLAM based on intelligent unscented Kalman filter

Scaled unscented transform-based variational optimality filter

A Minimum Energy solution to Monocular Simultaneous Localization and Mapping

H-infinity filter based simultaneous localization and mapping

3D SLAM using IMU and its observability analysis

Filter design for simultaneous localization and map building (SLAM)

Multi-robot SLAM using M-Space feature representation

A new smallest sigma set for the Unscented Transform and its applications on SLAM

Similar Documents

Novel mobile robot FastSLAM based on unscented transform

Unscented H∞ filter based simultaneous localization and mapping

SLAM based on intelligent unscented Kalman filter

Scaled unscented transform-based variational optimality filter

A Minimum Energy solution to Monocular Simultaneous Localization and Mapping

H-infinity filter based simultaneous localization and mapping

3D SLAM using IMU and its observability analysis

Filter design for simultaneous localization and map building (SLAM)

Multi-robot SLAM using M-Space feature representation

A new smallest sigma set for the Unscented Transform and its applications on SLAM