DocumentCode
2933122
Title
Using Absolute Non-Gaussian Non-White Observations in Gaussian SLAM
Author
Guivant, José ; Masson, Favio
Author_Institution
Australian Centre For Field Robotics The University of Sydney The Rose Street Building J04, NSW 2006, Sydney, Australia jguivant@acfr.usyd.edu.au
fYear
2005
fDate
18-22 April 2005
Firstpage
336
Lastpage
341
Abstract
In the navigation context it is typical the presence of sensors that introduce uncertainties that cannot be modeled as white Gaussian noise. Such measures cannot be directly used in gaussian estimators. This paper presents a technique that allows the consistent processing of this type of measurements in combination with a standard EKF estimator. The method can be applied in an efficient implementation of SLAM based on a Gaussian estimator.
Keywords
Compass; EKF; GPS; Non-Gaussian; SLAM; non-white noise; Australia; Gaussian noise; Global Positioning System; Information filtering; Navigation; Nonlinear filters; Probability distribution; Simultaneous localization and mapping; Uncertainty; White noise; Compass; EKF; GPS; Non-Gaussian; SLAM; non-white noise;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570141
Filename
1570141
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