@inproceedings{a8680712f0aa4499a0031c6fc4c1204f,
title = "Analysis of the reference coordinate system used in the EKF-based SLAM",
abstract = "In this paper we analyze the differences in the EKF-SLAM frameworks that are constructed using different coordinate system. First, we derive the EKF equations in the world coordinate system through modification of the EKF equations in the robot coordinate system. When the reference coordinate system is changed, the equations change due to its nonlinear behavior. We identify four EKF-SLAM frameworks, and then we demonstrate that any framework can be used in EKF-SLAM by simulation and real-life experiments.",
keywords = "Data association, EKF, SLAM, reference coordinate system",
author = "Keonyong Lee and Ryu, {Soo Hyun} and Jaehyeon Kang and Hyunga Choi and Changhyun Jun and Don, {Nakju Lett}",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 ; Conference date: 12-11-2014 Through 15-11-2014",
year = "2014",
doi = "10.1109/URAI.2014.7057516",
language = "English",
series = "2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "33--38",
booktitle = "2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014",
}