Adaptive Iterated Square-Root Cubature Kalman Filter and Its Application to SLAM of a Mobile Robot

Adaptive Iterated Square-Root Cubature Kalman Filter and Its Application to SLAM of a Mobile Robot

For the mobile robot Simultaneous Localization and Mapping(SLAM)，a new algorithm is proposed, and named Adaptive Iterated Square-Root Cubature Kalman Filter based SLAM algorithm(AISRCKF-SLAM). The main contribution of the algorithm is that the numerical integration method based on cubature rule is d...

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Main Authors: Chen, Zuguo (Author), Dai, Xuefeng (Author), Jiang, LaiHao (Author), Yang, Chao (Author), Cai, Biao (Author)
Format: EJournal Article
Udgivet: Institute of Advanced Engineering and Science, 2013-12-01.
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info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
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