Relative-absolute map filter for simultaneous localization and mapping

被引：1

作者：

Chung, Shu Yun ^{[1
]}

Huang, Han Pang ^{[1
]}

机构：

[1] Natl Taiwan Univ, Dept Mech Engn, Taipei 10764, Taiwan

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

关键词：

SLAM; relative map filter (RMF); absolute map filter (AMF); Particle Filter (PF);

D O I：

10.1109/IROS.2006.282023

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a new algorithm, Relative-Absolute Map Filter (RAMF), is proposed to solve the simultaneous localization and mapping problem. Compared with FastSLAM, which adopts many absolute maps to describe the relationship between features, RAMF utilizes only one relative map instead. By fusing the information of relative map and absolute map, RAMF can create a more accurate map. Moreover, the embedded particle filter in RAMF can handle robot localization. Simulation results show that RAMF has better performance than FastSLAM and UKF SLAM in the noisy robot motion.

引用

页码：436 / +

页数：2

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