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