H filtering convergence and it's application to SLAM

Hamzah Ahmad, Toru Namerikawa

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

10 Citations (Scopus)

Abstract

KF-SLAM(Kalman filter-SLAM) have been used as a popular solution by researchers in many SLAM application. Nevertheless, it shortcomings of assumption for Gaussian noise limited its efficiency and demand researcher to consider better filter and algorithm to achieve a promising result of estimation. In this paper, we proposed one of its family, the H filter-based SLAM to determine its competency for SLAM problem. Unlike Kalman filter, H filter able to work in an unknown statistical noise behavior and thus more robust. It rely on a guess that the noise is in bounded energy and does not require a priori knowledge about the system. Therefore, we proposed the H filter as other available technique to infer the location for both robot and landmarks while simultaneously building the map. From the results of simulation, H filter produces better outcome than the Kalman filter especially in the linear case estimation. As a result, H filter may provides another available estimation methods with the capability to ensure and improve estimation for the robotic mapping problem especially in SLAM.

Original languageEnglish
Title of host publicationICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
Pages2875-2880
Number of pages6
Publication statusPublished - 2009
EventICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
Duration: 2009 Aug 182009 Aug 21

Other

OtherICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
CountryJapan
CityFukuoka
Period09/8/1809/8/21

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Keywords

  • Estimation
  • H filter
  • Kalman filter
  • SLAM

ASJC Scopus subject areas

  • Information Systems
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering

Cite this

Ahmad, H., & Namerikawa, T. (2009). H filtering convergence and it's application to SLAM. In ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings (pp. 2875-2880). [5333855]