Convergence and Consistency Analysis for a 3-D Invariant-EKF SLAM
نویسندگان
چکیده
منابع مشابه
An EKF-SLAM algorithm with consistency properties
In this paper we address the inconsistency of the EKF-based SLAM algorithm that stems from non-observability of the origin and orientation of the global reference frame. We prove on the non-linear two-dimensional problem with point landmarks observed that this type of inconsistency is remedied using the Invariant EKF, a recently introduced variant of the EKF meant to account for the symmetries ...
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ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2017
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2017.2651376