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

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 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

Keywords

  • Data association
  • EKF
  • SLAM
  • reference coordinate system

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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