H Filter-SLAM: A sufficient condition for estimation

Hamzah Ahmad, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

A theoretical study about H Filter based SLAM is proposed to propose a sufficient condition for estimation purposes. Two different cases of initial state covariance are given and analyzed to obtain a best solution for SLAM problem with consideration of process and measurement noises statistical behavior. If the proposed conditions are not satisfied during estimation, then the estimation will exhibit unbounded uncertainties and consequently result in erroneous inference. Simulation results demonstrates the performance as what this paper suggested on the theoretical analysis. These results consistently supports and guarantees our previous findings.

Original languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Pages3159-3164
Number of pages6
Volume18
EditionPART 1
DOIs
Publication statusPublished - 2011
Event18th IFAC World Congress - Milano, Italy
Duration: 2011 Aug 282011 Sep 2

Other

Other18th IFAC World Congress
CountryItaly
CityMilano
Period11/8/2811/9/2

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Keywords

  • Estimation
  • Finite escape Time
  • H Filter
  • SLAM
  • Sufficient condition

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Ahmad, H., & Namerikawa, T. (2011). H Filter-SLAM: A sufficient condition for estimation. In IFAC Proceedings Volumes (IFAC-PapersOnline) (PART 1 ed., Vol. 18, pp. 3159-3164) https://doi.org/10.3182/20110828-6-IT-1002.00260