HFilter-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 HFilter 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 publicationProceedings of the 18th IFAC World Congress
PublisherIFAC Secretariat
Pages3159-3164
Number of pages6
Edition1 PART 1
ISBN (Print)9783902661937
DOIs
Publication statusPublished - 2011 Jan 1

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume44
ISSN (Print)1474-6670

Keywords

  • Estimation
  • Finite escape Time
  • SLAM
  • Sufficient condition

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Ahmad, H., & Namerikawa, T. (2011). HFilter-SLAM: A sufficient condition for estimation. In Proceedings of the 18th IFAC World Congress (1 PART 1 ed., pp. 3159-3164). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 44, No. 1 PART 1). IFAC Secretariat. https://doi.org/10.3182/20110828-6-IT-1002.00260