This paper introduces a new approach to SLAM which combines an Information Filter and a non linear optimizer. The basic idea of the suggested technique is to use the Information Filter when the system non linearities are negligible, and to switch to the use of the non linear optimizer when the non linearities are not negligible. Extensive simulations are provided in order to evaluate the performance of the proposed approach. In particular, a comparison with the Exactly Sparse Delayed-state Filers (ESDF) technique is carried out.
Scheda prodotto non validato
Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo
Titolo: | A hybrid filtering and maximum likelihood approach to SLAM |
Autori: | |
Data di pubblicazione: | 2010 |
Handle: | http://hdl.handle.net/11567/872093 |
ISBN: | 9781424493173 |
Appare nelle tipologie: | 04.01 - Contributo in atti di convegno |