Consistency improvement for SLAM - EKF for indoor environments

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 10 Jul 2006Publisher:IEEEJournal:Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.

Authors: Diego Rodríguez-Losada; Fernando Matía; Agustín Jiménez; Ramón Galán;

doi: 10.1109/robot.2006.1641747

Consistency improvement for SLAM - EKF for indoor environments

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Abstract

The solution to the simultaneous localization and mapping (SLAM) problem using an extended Kalman filter (EKF) is the most extended despite the inconsistency of its estimation, a problem that has been largely avoided in the literature. We review current existing approaches and present novel solutions to this problem that let us to build large monolithic feature based maps of indoor environments

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Universidad Politécnica de Madrid
Spain

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