G. Dissanayake

Publications
Influence

A solution to the simultaneous localization and map building (SLAM) problem

G. Dissanayake, P. Newman, Steve Clark, H. Durrant-Whyte, M. Csorba
Computer Science
IEEE Trans. Robotics Autom.
1 June 2001

The simultaneous localization and map building (SLAM) problem asks if it is possible for an autonomous vehicle to incrementally build a map of this environment while simultaneously using this map to compute absolute vehicle location. Expand

2,687
209
PDF

The aiding of a low-cost strapdown inertial measurement unit using vehicle model constraints for land vehicle applications

G. Dissanayake, S. Sukkarieh, E. Nebot, H. Durrant-Whyte
Engineering, Computer Science
IEEE Trans. Robotics Autom.
1 October 2001

This paper presents a new method for improving the accuracy of inertial measurement units (IMUs) mounted on land vehicles. Expand

Toward improved control of prosthetic fingers using surface electromyogram (EMG) signals

Rami N. Khushaba, S. Kodagoda, M. Takruri, G. Dissanayake
Computer Science
Expert Syst. Appl.
1 September 2012

A fundamental component of many modern prostheses is the myoelectric control system, which uses the electromyogram (EMG) signals from an individual's muscles to control the prosthesis movements. Expand

Convergence and Consistency Analysis for Extended Kalman Filter Based SLAM

Shoudong Huang, G. Dissanayake
Mathematics, Computer Science
IEEE Transactions on Robotics
1 October 2007

This paper investigates the convergence properties and consistency of extended Kalman filter (EKF) based simultaneous localization and mapping (SLAM) algorithms. Expand

A computationally efficient solution to the simultaneous localisation and map building (SLAM) problem

G. Dissanayake, H. Durrant-Whyte, Tim Bailey
Computer Science
Proceedings ICRA. Millennium Conference. IEEE…
24 April 2000

In this paper, the theoretical basis and a practical implementation of a computationally efficient solution to SLAM is presented. Expand

Driver Drowsiness Classification Using Fuzzy Wavelet-Packet-Based Feature-Extraction Algorithm

Rami N. Khushaba, S. Kodagoda, Sara Lal, G. Dissanayake
Engineering, Computer Science
IEEE Transactions on Biomedical Engineering
2011

We develop an efficient fuzzy mutual-information (MI)- based wavelet packet transform (FMIWPT) feature-extraction method for classifying the driver drowsiness state into one of predefined drowiness levels. Expand

An efficient approach to the simultaneous localisation and mapping problem

Stefan B. Williams, G. Dissanayake, H. Durrant-Whyte
Computer Science
Proceedings IEEE International Conference on…
7 August 2002

We present a novel approach to the simultaneous localisation and mapping algorithm that exploits the manner in which observations are fused into the global map of the environment to manage the computational complexity of the algorithm and improve the data association process. Expand

An experiment in autonomous navigation of an underground mining vehicle

S. Scheding, G. Dissanayake, E. Nebot, H. Durrant-Whyte
Engineering, Computer Science
IEEE Trans. Robotics Autom.
1 February 1999

Describes the theoretical development and experimental evaluation of a navigation system for an autonomous load, haul, and dump truck based on the results obtained during extensive in-situ field trials. Expand

Extending the Limits of Feature-Based SLAM With B-Splines

L. Pedraza, D. Rodríguez-Losada, F. Matía, G. Dissanayake, J. V. Miró
Mathematics, Computer Science
IEEE Transactions on Robotics
1 April 2009

This paper describes a simultaneous localization and mapping (SLAM) algorithm for use in unstructured environments that is effective regardless of the geometric complexity of the environment. Expand

Active Pose SLAM

R. Valencia, J. V. Miró, G. Dissanayake, J. Andrade-Cetto
Computer Science
IEEE/RSJ International Conference on Intelligent…
24 December 2012

We present an active exploration strategy that complements Pose SLAM [1] and optimal navigation in PoseSLAM . Expand

Recommended Authors