Fourier-Hermite series for stochastic stability analysis of non-linear Kalman filters
- Toni Karvonen, Simo Särkkä
- 2016 19th International Conference on Information…
- 2016
1 Excerpt
A stochastically stable solution to the problem of robocentric mapping
- Published 2009 in 2009 IEEE International Conference on Robotics…
Abstract
This paper provides a novel solution for robocentric mapping using an autonomous mobile robot. The robot dynamic model is the standard unicycle model and the robot is assumed to measure both the range and relative bearing to the landmarks. The algorithm introduced in this paper relies on a coordinate transformation and an extended Kalman filter like… (More)