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A Hybrid Filter-based and Graph-based approach to SLAM

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اقرأ أكثر حفظ في قائمتي
  • معلومة اضافية
    • Contributors:
      Dipartimento di Ingegneria industriale e dell'informazione e di economia (DIIIE / UNIVAQ); Università degli Studi dell'Aquila = University of L'Aquila (UNIVAQ); Geometry and Probability for Motion and Action (E-MOTION); Inria Grenoble - Rhône-Alpes; Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Grenoble (LIG); Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)
    • بيانات النشر:
      HAL CCSD
    • الموضوع:
      2010
    • Collection:
      Université de Rennes 1: Publications scientifiques (HAL)
    • نبذة مختصرة :
      International audience ; This paper introduces a new approach to SLAM which combines an Information Filter and a non linear optimizer. The basic idea of the suggested technique is to use the Information Filter when the system non linearities are negligible, and to switch to the use of the non linear optimizer when the non linearities are not negligible. Extensive simulations are provided in order to evaluate the performance of the proposed approach. In particular, a comparison with the Exactly Sparse Delayed-state Filers (ESDF) technique is carried out.
    • Relation:
      hal-00544729; https://hal.science/hal-00544729; https://hal.science/hal-00544729/document; https://hal.science/hal-00544729/file/ContAgo.pdf
    • الدخول الالكتروني :
      https://hal.science/hal-00544729
      https://hal.science/hal-00544729/document
      https://hal.science/hal-00544729/file/ContAgo.pdf
    • Rights:
      info:eu-repo/semantics/OpenAccess
    • الرقم المعرف:
      edsbas.776EF066