Analysis of the reference coordinate system used in the EKF-based SLAM

Keonyong Lee; Soo Hyun Ryu; Jaehyeon Kang; Hyunga Choi; Changhyun Jun; Nakju Lett Don

doi:10.1109/URAI.2014.7057516

Analysis of the reference coordinate system used in the EKF-based SLAM

Keonyong Lee, Soo Hyun Ryu, Jaehyeon Kang, Hyunga Choi, Changhyun Jun, Nakju Lett Don

Department of Life Sciences

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

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
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	https://doi.org/10.1109/URAI.2014.7057516
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

Other

Other	2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
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

Access to Document

10.1109/URAI.2014.7057516

Cite this

Lee, K., Ryu, S. H., Kang, J., Choi, H., Jun, C., & Don, N. L. (2014). Analysis of the reference coordinate system used in the EKF-based SLAM. In 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 (pp. 33-38). Article 7057516 (2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2014.7057516

Analysis of the reference coordinate system used in the EKF-based SLAM. / Lee, Keonyong; Ryu, Soo Hyun; Kang, Jaehyeon et al.
2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 33-38 7057516 (2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Lee, K, Ryu, SH, Kang, J, Choi, H, Jun, C & Don, NL 2014, Analysis of the reference coordinate system used in the EKF-based SLAM. in 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014., 7057516, 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014, Institute of Electrical and Electronics Engineers Inc., pp. 33-38, 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014, Kuala Lumpur, Malaysia, 14/11/12. https://doi.org/10.1109/URAI.2014.7057516

Lee K, Ryu SH, Kang J, Choi H, Jun C, Don NL. Analysis of the reference coordinate system used in the EKF-based SLAM. In 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 33-38. 7057516. (2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014). doi: 10.1109/URAI.2014.7057516

Lee, Keonyong ; Ryu, Soo Hyun ; Kang, Jaehyeon et al. / Analysis of the reference coordinate system used in the EKF-based SLAM. 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 33-38 (2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014).

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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.",

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Analysis of the reference coordinate system used in the EKF-based SLAM

Abstract

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Bibliographical note

Keywords

ASJC Scopus subject areas

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