Affiliation:
1. Faculty of Electrical and Computer Engineering, The University of Birjand, Iran
Abstract
In order to enhance consistency in simultaneous localization and mapping (SLAM), in this paper, this problem is considered as a solely localization problem in the presence of unknown parameters. In this approach, the proposal distribution is generated based on marginal extended particle filter and static map is considered as a parametric estimation that is estimated by maximum likelihood techniques. Significant improvement of the filtering result from this viewpoint is demonstrated in terms of estimation performance and consistency. Some simulations and experiments are presented to evaluate the algorithm’s performance in comparison to conventional methods.
Publisher
World Scientific Pub Co Pte Lt
Subject
Artificial Intelligence,Mechanical Engineering
Cited by
2 articles.
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