Detail publikace

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

KLEČKA, J.

Originální název

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

Anglický název

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

Jazyk

en

Originální abstrakt

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.

Anglický abstrakt

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.

Dokumenty

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"
}