Publication detail

Comparison of Different Approaches to Adaptation of Unscented Kalman Filter for Non-Odometry SLAM

KLEČKA, J.

Original Title

Comparison of Different Approaches to Adaptation of Unscented Kalman Filter for Non-Odometry SLAM

English Title

Comparison of Different Approaches to Adaptation of Unscented Kalman Filter for Non-Odometry SLAM

Type

conference paper

Language

en

Original Abstract

This paper is aimed at utilizing of an Unscented Kalman filter (UKF) for application on non-odometry SLAM problem. Non-odometry SLAM problem lacks state transitions function for part of state vector so theoretical part of the paper describes the derivation of three proposed modifications. The experimental part then shows experiments which evaluate modifications performance in reference to Extended Kalman filter. Experiments are based on simulation of monocular photogrammetry reconstruction problem.

English abstract

This paper is aimed at utilizing of an Unscented Kalman filter (UKF) for application on non-odometry SLAM problem. Non-odometry SLAM problem lacks state transitions function for part of state vector so theoretical part of the paper describes the derivation of three proposed modifications. The experimental part then shows experiments which evaluate modifications performance in reference to Extended Kalman filter. Experiments are based on simulation of monocular photogrammetry reconstruction problem.

Keywords

Unscented Kalman filter, UKF, SLAM, Recurrent estimation

Released

26.04.2018

Publisher

Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních

Location

Brno

ISBN

978-80-214-5614-3

Book

Proceedings of the 24th Conference STUDENT EEICT 2018

Edition number

první

Pages from

358

Pages to

362

Pages count

5

Documents

BibTex


@inproceedings{BUT147181,
  author="Jan {Klečka}",
  title="Comparison of Different Approaches to Adaptation of Unscented Kalman Filter for Non-Odometry SLAM",
  annote="This paper is aimed at utilizing of an Unscented Kalman filter (UKF) for application on non-odometry SLAM problem. Non-odometry SLAM problem lacks state transitions function for part of state vector so theoretical part of the paper describes the derivation of three proposed modifications. The experimental part then shows experiments which evaluate modifications performance in reference to Extended Kalman filter. Experiments are based on simulation of monocular photogrammetry reconstruction problem.",
  address="Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních",
  booktitle="Proceedings of the 24th Conference STUDENT EEICT 2018",
  chapter="147181",
  howpublished="electronic, physical medium",
  institution="Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních",
  year="2018",
  month="april",
  pages="358--362",
  publisher="Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních",
  type="conference paper"
}