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Consistency of SLAM-EKF Algorithms for Indoor Environments
Journal of Intelligent and Robotic Systems, 2007zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Diego Rodríguez-Losada +4 more
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A computationally efficient EKF-vSLAM
2008 16th Mediterranean Conference on Control and Automation, 2008This paper presents an efficient extended Kalman filter implementation of a single-camera visual simulataneous localization and mapping (vSLAM) algorithm, vSLAM is a novel algorithm for simultaneous localization and mapping problem widely studied in mobile robotics field. The algorithm is vision and odometry-based.
Souici A. Krim +2 more
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An EKF Based Approach to Radar Inertial Odometry
2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), 2020Accurate localization is key for autonomous robotics. Navigation in GNSS-denied and degraded visual environment is still very challenging. Approaches based on visual sensors usually fail in conditions like darkness, direct sunlight, fog or smoke.Our approach is based on a millimeter wave FMCW radar sensor and an Inertial Measurement Unit (IMU) as both ...
Doer, Christopher, Trommer, Gert F.
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EKF monocular SLAM with relocalization for laparoscopic sequences
2011 IEEE International Conference on Robotics and Automation, 2011In recent years, research on visual SLAM has produced robust algorithms providing, in real time at 30 Hz, both the 3D model of the observed rigid scene and the 3D camera motion using as only input the gathered image sequence. These algorithms have been extensively validated in rigid human-made environments -indoor and outdoor- showing robust ...
Oscar G. Grasa +2 more
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EKF Schemes in Array Processing
1993The small error approximation is used to derive a linear relationship between the source parameters (i.e. power levels and directions of arrival) and a measurement of the covariance error matrix, defined as the difference between the data covariance and a covariance model from the scenario parameters. The resulting framework reveals the similarity with
M. A. Lagunas +2 more
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EKF-based estimation of SOC and temperature in ultracapacitors
2013 10th IEEE International Conference on Control and Automation (ICCA), 2013In this paper, simultaneous estimation of state-of-charge (SOC) and temperature is achieved by applying extended Kalman filter (EKF) algorithm with only the terminal measurement of voltage and current. For the application of EKF algorithm, a nonlinear model which consists of a voltageand-thermal-dependent equivalent circuit model and a thermal model is
Chia-Jui Chiang +2 more
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IMPACT OF PERTURBATION ESTIMATOR ON EKF-SLAM RESULTS
IFAC Proceedings Volumes, 2007Abstract This paper deals with the Simultaneous Localization and Map building (SLAM) problem using an Extended Kalman Filter with Perturbation Estimator (EKFPE). The perturbation estimator is used to take systematic errors into account. These disturbance estimates are added to vehicle states in a feedback loop to improve location and map estimates ...
Chanier, François +3 more
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On the consistency of EKF-SLAM: Focusing on the observation models
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009In this paper a new strategy for handling the observation information of a bearing-range sensor throughout the filtering process of EKF-SLAM is proposed. This new strategy is advised based on a thorough consistency analysis and aims to improve the process consistency while reducing the computational cost.
Amir Hossein Tamjidi +2 more
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Complex EKF neural network for adaptive equalization
2000 IEEE International Symposium on Circuits and Systems. Emerging Technologies for the 21st Century. Proceedings (IEEE Cat No.00CH36353), 2002Neural networks with real valued inputs have been proposed in the literature for adaptive equalization and have been used to improve performance of communication channel equalizers. However, neural networks with complex valued inputs and fast convergence are lacking for adaptive equalization.
Korrai Deergha Rao +2 more
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Rhythmic EKF for pose estimation during gait
2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015Accurate estimation of lower body pose during gait is useful in a wide variety of applications, including design of bipedal walking strategies, active prosthetics, exoskeletons, and physical rehabilitation. In this paper an algorithm is developed to estimate joint kinematics during rhythmic motion such as walking, using inertial measurement units ...
Vladimir Joukov +4 more
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