Original title: Comparison Of Different Approaches To Adaptation Of Unscented Kalman Filter For Non-Odometry Slam
Authors: Klečka, Jan
Document type: Papers
Language: eng
Publisher: Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních technologií
Abstract: 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.
Keywords: Recurrent estimation; SLAM; UKF; Unscented Kalman filter
Host item entry: Proceedings of the 24th Conference STUDENT EEICT 2018, ISBN 978-80-214-5614-3

Institution: Brno University of Technology (web)
Document availability information: Fulltext is available in the Brno University of Technology Digital Library.
Original record: http://hdl.handle.net/11012/138256

Permalink: http://www.nusl.cz/ntk/nusl-393442


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