Title :
Consistency improvement for SLAM - EKF for indoor environments
Author :
Rodriguez-Losada, Diego ; Matia, Fernando ; Jimenez, Agustin ; Galan, Ramon
Author_Institution :
Univ. Politecnica de Madrid
Abstract :
The solution to the simultaneous localization and mapping (SLAM) problem using an extended Kalman filter (EKF) is the most extended despite the inconsistency of its estimation, a problem that has been largely avoided in the literature. We review current existing approaches and present novel solutions to this problem that let us to build large monolithic feature based maps of indoor environments
Keywords :
Kalman filters; mobile robots; path planning; extended Kalman filter; mobile robots; simultaneous localization and mapping; Computational complexity; Gaussian distribution; Indoor environments; Information filters; Mobile robots; Particle filters; Robot kinematics; Robotics and automation; Simultaneous localization and mapping; Stochastic processes;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1641747
