HFilter-SLAM: A sufficient condition for estimation

Hamzah Ahmad, Toru Namerikawa

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 18th IFAC World Congress
出版社IFAC Secretariat
ページ3159-3164
ページ数6
1 PART 1
ISBN(印刷版)9783902661937
DOI
出版ステータスPublished - 2011

出版物シリーズ

名前IFAC Proceedings Volumes (IFAC-PapersOnline)
番号1 PART 1
44
ISSN(印刷版)1474-6670

ASJC Scopus subject areas

  • 制御およびシステム工学

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