Detail publikačního výsledku

Comparison of Different Approaches to Adaptation of Unscented Kalman Filter for Non-Odometry SLAM

KLEČKA, J.

Originální název

Comparison of Different Approaches to Adaptation of Unscented Kalman Filter for Non-Odometry SLAM

Anglický název

Comparison of Different Approaches to Adaptation of Unscented Kalman Filter for Non-Odometry SLAM

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova

Unscented Kalman filter, UKF, SLAM, Recurrent estimation

Klíčová slova v angličtině

Unscented Kalman filter, UKF, SLAM, Recurrent estimation

Autoři

KLEČKA, J.

Rok RIV

2019

Vydáno

26.04.2018

Nakladatel

Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních

Místo

Brno

ISBN

978-80-214-5614-3

Kniha

Proceedings of the 24th Conference STUDENT EEICT 2018

Strany od

358

Strany do

362

Strany počet

5

BibTex

@inproceedings{BUT147181,
  author="Jan {Klečka}",
  title="Comparison of Different Approaches to Adaptation of Unscented Kalman Filter for Non-Odometry SLAM",
  booktitle="Proceedings of the 24th Conference STUDENT EEICT 2018",
  year="2018",
  number="první",
  pages="358--362",
  publisher="Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních",
  address="Brno",
  isbn="978-80-214-5614-3"
}