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.
Original language | English |
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Title of host publication | 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 33-38 |
Number of pages | 6 |
ISBN (Electronic) | 9781479953325 |
DOIs | |
Publication status | Published - 2014 |
Event | 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 - Kuala Lumpur, Malaysia Duration: 2014 Nov 12 → 2014 Nov 15 |
Publication series
Name | 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 |
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Other
Other | 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 |
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Country/Territory | Malaysia |
City | Kuala Lumpur |
Period | 14/11/12 → 14/11/15 |
Bibliographical note
Publisher Copyright:© 2014 IEEE.
Keywords
- Data association
- EKF
- SLAM
- reference coordinate system
ASJC Scopus subject areas
- Artificial Intelligence
- Human-Computer Interaction