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Pseudo-measured LPV Kalman filter for SLAM

Author
Guerra, E.; Bolea, Y.; Grau, A.
Type of activity
Presentation of work at congresses
Name of edition
IEEE 10th International Conference on Industrial Informatics
Date of publication
2012
Presentation's date
2012-07-25
Book of congress proceedings
INDIN 2012: IEEE 10th International Conference on Industrial Informatics: 25-27 July, 2012, Beijing, China
First page
700
Last page
705
Publisher
Institute of Electrical and Electronics Engineers
DOI
https://doi.org/10.1109/INDIN.2012.6301358 Open in new window
Repository
http://hdl.handle.net/2117/17524 Open in new window
URL
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6301358 Open in new window
Abstract
This paper describes a new approach to the wellknown robotics problem of simultaneous location and mapping (SLAM). The proposed technique introduces a linear varying parameter (LPV) modeling solution for the estimation of nonlinear models in a Kalman Filter based algorithm. In this technique, the estimation model for the robotic device considered is modeled as a quasi-LPV model, which in turn, is linearized around a set of given points of the varying parameter. The observation model is rearrange...
Citation
Guerra, E.; Bolea, Y.; Grau, A. Pseudo-measured LPV Kalman filter for SLAM. A: IEEE International Conference on Industrial Informatics. "INDIN 2012: IEEE 10th International Conference on Industrial Informatics: 25-27 July, 2012, Beijing, China". Beijing: Institute of Electrical and Electronics Engineers, 2012, p. 700-705.
Group of research
VIS - Artificial Vision and Intelligent Systems

Participants