DocumentCode
3575997
Title
Analysis of the reference coordinate system used in the EKF-based SLAM
Author
Keonyong Lee ; Soo-hyun Ryu ; Jaehyeon Kang ; Hyunga Choi ; ChangHyun Jun ; Don, Nakju Lett
Author_Institution
Sch. of Electr. Eng., Korea Univ., Seoul, South Korea
fYear
2014
Firstpage
33
Lastpage
38
Abstract
In this paper we analyze the differences in the EKF-SLAM frameworks that are constructed using different coordinate system. First, we derive the EKF equations in the world coordinate system through modification of the EKF equations in the robot coordinate system. When the reference coordinate system is changed, the equations change due to its nonlinear behavior. We identify four EKF-SLAM frameworks, and then we demonstrate that any framework can be used in EKF-SLAM by simulation and real-life experiments.
Keywords
Kalman filters; SLAM (robots); nonlinear filters; EKF-SLAM frameworks; nonlinear behavior; reference coordinate system analysis; robot coordinate system; Equations; Kalman filters; Mathematical model; Robot kinematics; Simultaneous localization and mapping; Data association; EKF; SLAM; reference coordinate system;
fLanguage
English
Publisher
ieee
Conference_Titel
Ubiquitous Robots and Ambient Intelligence (URAI), 2014 11th International Conference on
Type
conf
DOI
10.1109/URAI.2014.7057516
Filename
7057516
Link To Document