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

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    5 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 languageEnglish
    Title of host publication2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages33-38
    Number of pages6
    ISBN (Electronic)9781479953325
    DOIs
    Publication statusPublished - 2014
    Event2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 - Kuala Lumpur, Malaysia
    Duration: 2014 Nov 122014 Nov 15

    Publication series

    Name2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014

    Other

    Other2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
    Country/TerritoryMalaysia
    CityKuala Lumpur
    Period14/11/1214/11/15

    Bibliographical note

    Publisher Copyright:
    © 2014 IEEE.

    Keywords

    • Data association
    • EKF
    • SLAM
    • reference coordinate system

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Human-Computer Interaction

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