<i>t</i>-Butyllithium

Bailey, William F.; Wachter-Jurcsak, Nanette

doi:10.1002/047084289x.rb396

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Unscented Hybridslam1

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2013

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“…HybridSLAM is taking advantage of FastSLAM to deal with non-linearity of the system, estimating the path and mapping in local scale, and being less fragile to the data association problem. On the other hand, EKF-SLAM has the ability to recall uncertainty at each time step when needed [3]. Since EKF-SLAM can deal with nonlinearity of the system, it may be an appropriate choice for a mixed filter.…”

Section: Unscented Hybridslammentioning

confidence: 99%

Autonomous mobile robot positioning using Unscented HybridSLAM

Monjazeb

Sąsiadek

Necsulescu

2013

2013 18th International Conference on Methods &Amp; Models in Automation &Amp; Robotics (MMAR)

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This paper addresses a novel approach to Simultaneous Localization and Mapping problem called Unscented HybridSLAM. Analyzing loop closing as one of the most important aspects of SLAM is the major interest of this study. Closing a loop by an autonomous mobile robot can be tricky even in the presence of a correct data association in the process, especially, when the loop is considerably large. The main challenge is to maintain a track of all correlations among landmarks and the mobile robot using Unscented HybridSLAM. The performance of proposed algorithm is evaluated with a loop closing scenario simulation, then, the results are discussed and compared with other algorithms.

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Section: Unscented Hybridslammentioning

confidence: 99%