Unscented FastSLAM: A Robust and Efficient Solution to the SLAM Problem

  title={Unscented FastSLAM: A Robust and Efficient Solution to the SLAM Problem},
  author={Chanki Kim and R. Sakthivel and Wan Kyun Chung},
  journal={IEEE Transactions on Robotics},
The Rao-Blackwellized particle filter (RBPF) and FastSLAM have two important limitations, which are the derivation of the Jacobian matrices and the linear approximations of nonlinear functions. These can make the filter inconsistent. Another challenge is to reduce the number of particles while maintaining the estimation accuracy. This paper provides a robust new algorithm based on the scaled unscented transformation called unscented FastSLAM (UFastSLAM). It overcomes the important drawbacks of… CONTINUE READING
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