Adaptive square-root transformed unscented fastslam with KLD-resampling

DOI10.1080/00207721.2016.1256449MaRDI QIDQ5347349zbMATH OpenOpenAlexFDO

Authors Rong-Xin Jiang, Li Xie, Xiang Tian, Yao-Wu Chen, Weijun Xu

Publication date 23 May 2017

Published in International Journal of Systems Science. Principles and Applications of Systems and Integration (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207721.2016.1256449

zbMATH Keywords

Kullback-Leibler distanceRao-Blackwellized particle filterFastSLAMtransformed unscented Kalman filter

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Stochastic systems in control theory (general) (93E03) Estimation and detection in stochastic control theory (93E10)

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Cites work

• A SLAM based on auxiliary marginalised particle filter and differential evolution
• Cubature Kalman Filters
• Sequential Monte Carlo Methods in Practice
• Transformed Unscented Kalman Filter

Cited in

(4)

• A FastSLAM algorithm based on nonlinear adaptive square root unscented Kalman filter
• SLAM algorithm with Gaussian distributed resampling Rao-Blackwellized particle filter
• A FastSLAM algorithm based on the unscented filtering with adaptive selective resampling
• An improved Gaussian mixture PHD SLAM algorithm

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