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Compressed Unscented Kalman Filter-Based SLAM

Cheng, Jiantong; Kim, Jonghyuk; Jiang, Zhenyu; Yang, Xixiang

Description

This paper proposes a real-time nonlinear filtering approach for the SLAM problem, termed as compressed Unscented Kalman filter (CUKF). A partial sampling strategy was recently proposed to make the computational complexity of the UKF quadratic with the state-vector dimension. However, the quadratic complexity remains intractable for the large-scale SLAM. To address this problem, we firstly prove the equivalence of the partial and full sampling strategies for the decoupled nonlinear system. Then...[Show more]

CollectionsANU Research Publications
Date published: 2014
Type: Conference paper
URI: http://hdl.handle.net/1885/38099
Source: Proceedings of the IEEE International Conference on Robotics and Biomimetics
DOI: 10.1109/ROBIO.2014.7090563

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