liu.seSearch for publications in DiVA
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
A Framework for Simultaneous Localization and Mapping Utilizing Model Structure
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2007 (English)In: Proceedings of the 10th International Conference on Information Fusion, 2007, 1-8 p.Conference paper, Published paper (Refereed)
Abstract [en]

This contribution aims at unifying two recent trends in applied particle filtering (PF). The first trend is the major impact in simultaneous localization and mapping (SLAM) applications, utilizing the FastSLAM algorithm. The second one is the implications of the marginalized particle filter (MPF) or the Rao-Blackwellized particle filter (RBPF) in positioning and tracking applications. An algorithm is introduced, which merges FastSLAM and MPF, and the result is an MPF algorithm for SLAM applications, where state vectors of higher dimensions can be used. Results using experimental data from a 3D SLAM development environment, fusing measurements from inertial sensors (accelerometer and gyro) and vision are presented.

Place, publisher, year, edition, pages
2007. 1-8 p.
Keyword [en]
Rao-Blackwellized/marginalized particle filter, Sensor fusion, Simultaneous localization and mapping, Inertial sensors, Vision
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-38847DOI: 10.1109/ICIF.2007.4408198Local ID: 45862ISBN: 978-0-662-45804-3 (print)OAI: oai:DiVA.org:liu-38847DiVA: diva2:259696
Conference
10th International Conference on Information Fusion, Quebec, Canada, July, 2007
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2013-09-15

Open Access in DiVA

No full text

Other links

Publisher's full textRelated report

Authority records BETA

Schön, ThomasKarlsson, RickardTörnqvist, DavidGustafsson, Fredrik

Search in DiVA

By author/editor
Schön, ThomasKarlsson, RickardTörnqvist, DavidGustafsson, Fredrik
By organisation
Automatic ControlThe Institute of Technology
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 141 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf