Art

J-GLOBAL ID：201502203872180840   Reference number：15A1347445

A solution to SLAM problems by simultaneous estimation of kinematic parameters including sensor mounting offset with an augmented UKF

拡張UKFによるセンサ取り付けオフセットを含む運動パラメータの同時推定によるSLAM問題の解決法

Author (3)： MAEYAMA Shoichi (Okayama Univ., Okayama, JPN) ,  TAKAHASHI Yuta (Okayama Univ., Okayama, JPN) ,  WATANABE Keigo (Okayama Univ., Okayama, JPN)
Material： Advanced Robotics  (Adv Robot)
Volume： 29  Issue： 17/18  Page： 1137-1149  Publication year： 2015 
JST Material Number： T0339A  ISSN： 0169-1864  Document type： Article
Article type： 原著論文  Country of issue： United Kingdom (GBR)  Language： ENGLISH (EN)

Thesaurus term： position control ,  map compilation ,  Kalman filter ,  tracking control ,  sensor ,  calibration ,  *parameter estimation
Semi thesaurus term： *simultaneous localization and mapping ,  odometry ,  laser range sensor ,  *unscented Kalman filter

JST classification (1)： Motion and control of robots  (IC04012J)

Reference (10)：

• Paz LM, Tardos JD, Neira J. Divide and conquer: EKF SLAM in O(n). IEEE Trans. Robot. 2008;24:1107-1120.
• Kurt-Yavuz Z, Yavuz S. A comparison of EKF, UKF, FastSLAM2.0, and UKF-based Fast-SLAM algorithms. In: IEEE 16th International Conference on Intelligent Engineering Systems (INES); Jun 2012; Lisbon. p. 37-43.
• Borenstein J, Feng L. Measurement and correction of systematic odometry errors in mobile robots. IEEE J. Robot. Autom. 1996;12:869-880.
• Fujii Y, Kuroda Y. Online motion model parameter estimation using Augmented Kalman Filter and discriminative training. In: Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics; Dec 2011; Phuket. p. 1035-1040.
• Larsen TD, Bak M, Andersen NA, Ravn O. Location estimation for an autonomously guided vehicle using an augmented Kalman filter to autocalibrate the odometry. In: FUSION98 SPIE Conference; Las Vegas, NV. 1998.

Terms in the title (10)： 拡張 ,  UKF ,  取り付け ,  オフセット ,  運動 ,  パラメータ ,  同時推定 ,  SLAM ,  問題 ,  解決法