Parsley, MP;
Julier, SJ;
(2008)
The common state filter for SLAM.
In:
(pp. pp. 2060-2065).
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Abstract
This paper presents the Common State Filter (CSF), a novel and efficient suboptimal Multiple Hypothesis SLAM (MHSLAM) method for Kalman Filter-based SLAM algorithms. Conventional MHSLAM algorithms require the entire vehicle and map state to be copied for each hypothesis. The CSF, by contrast, maintains a single, common instance of the vast majority of the map and only copies the map portion that varies substantially across different hypotheses. We demonstrate the performance of the algorithm on the Victoria Park data set. ©2008 IEEE.
| Type: | Proceedings paper |
|---|---|
| Title: | The common state filter for SLAM |
| ISBN-13: | 9781424420582 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/IROS.2008.4651114 |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/16749 |
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