HybridSLAM: Combining FastSLAM and EKF-SLAM for Reliable Mapping

@inproceedings{Brooks2008HybridSLAMCF,
  title={HybridSLAM: Combining FastSLAM and EKF-SLAM for Reliable Mapping},
  author={Alex Brooks and Tim Bailey},
  booktitle={WAFR},
  year={2008}
}
This paper presents HybridSLAM: an approach to SLAM which combines the strengths and avoids the weaknesses of two popular mapping strategies: FastSLAM and EKF-SLAM. FastSLAM is used as a front-end, producing local maps which are periodically fused into an EKF-SLAM back-end. The use of FastSLAM locally avoids linearisation of the vehicle model and provides a high level of robustness to clutter and ambiguous data association. The use of EKF-SLAM globally allows uncertainty to be remembered over… CONTINUE READING
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An approach to autonomous navigation based on unscented HybridSLAM

2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) • 2012
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Autonomous mobile robot positioning using Unscented HybridSLAM

2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR) • 2013
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