• Aucun résultat trouvé

Experimental Implementation of an Invariant Extended Kalman Filter-based Scan Matching SLAM

N/A
N/A
Protected

Academic year: 2021

Partager "Experimental Implementation of an Invariant Extended Kalman Filter-based Scan Matching SLAM"

Copied!
8
0
0

Texte intégral

Loading

Figure

Fig. 3. Estimates for linear trajectory: IEKF (solid), reference (dashed)
Fig. 5. Estimates for circular trajectory: IEKF (solid), reference (dashed)

Références

Documents relatifs

EMSO is the European counterpart to similar large-scale systems in various stages of development around the world (see Favali et al., 2010): United States (Ocean Observatories

Keywords - nonlinear observers, nonlinear systems, extended Kalman filter, adaptive high-gain observer, Riccati equation, continuous-discrete observer, DC- motor,

Abstract— In the present article we propose a nonlinear observer that merges the behaviors 1) of an extended Kalman filter, mainly designed to smooth off noise , and 2) of

The CDKF is the core member of the sigma-point Kalman filters (SPKF) family of algorithms based on the sigma-point approach [5]. It uses a symmetric set of

To study the underlying molecular mechanisms govern- ing the Varroa destructor adult life cycle, we carried out transcriptomic profiling of seven stages (Fig. 1 ) described in

Calibration results: This figure presents the calibration results where values are normalized over the application type performance when it runs with the Xen default quantum

In this paper, we propose a “Generalized Multiplicative Extended Kalman Filter” (GMEKF) to estimate the position and velocity vectors and the orientation of a flying rigid body,

Instead of using a linear correction term based on a linear output error, it uses a geometrically adapted correction term based on an invariant output error; in the same way the