TY - GEN
T1 - An unscented Rauch-Tung-Striebel smoother for SLAM problem
AU - Razali, Saifudin
AU - Watanabe, Keigo
AU - Maeyama, Shoichi
AU - Izumi, Kiyotaka
PY - 2011/1/1
Y1 - 2011/1/1
N2 - The unscented Kalman filter (UKF) has become relatively a new technique used in a number of nonlinear estimation problems to overcome the limitation of Taylor series linearization. It uses a deterministic sampling approach known as sigma points to propagate nonlinear systems and has been discussed in many literature. However, a nonlinear smoothing problem has received less attention than the filtering problem. Therefore, in this article we examine an un-scented smoother based on Rauch-Tung-Striebel form for discrete-time dynamic systems. This smoother has advantages available in unscented transformation over approximation by Taylor expansion as well as its benefit in derivative free. This smoothing technique has been implemented and evaluated through Simultaneous Localization and Mapping, SLAM problem.
AB - The unscented Kalman filter (UKF) has become relatively a new technique used in a number of nonlinear estimation problems to overcome the limitation of Taylor series linearization. It uses a deterministic sampling approach known as sigma points to propagate nonlinear systems and has been discussed in many literature. However, a nonlinear smoothing problem has received less attention than the filtering problem. Therefore, in this article we examine an un-scented smoother based on Rauch-Tung-Striebel form for discrete-time dynamic systems. This smoother has advantages available in unscented transformation over approximation by Taylor expansion as well as its benefit in derivative free. This smoothing technique has been implemented and evaluated through Simultaneous Localization and Mapping, SLAM problem.
KW - SLAM
KW - Unscented transformation
KW - nonlinear smoother
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M3 - Conference contribution
AN - SCOPUS:81255184285
SN - 9784907764395
T3 - Proceedings of the SICE Annual Conference
SP - 1304
EP - 1308
BT - SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PB - Society of Instrument and Control Engineers (SICE)
T2 - 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
Y2 - 13 September 2011 through 18 September 2011
ER -