期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 25, 期 1, 页码 88-98出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2008.2010358
关键词
Interval analysis; interval propagation; localization; set-membership estimation; simultaneous localization and map building (SLAM); underwater robots
类别
This paper proposes a set membership method based on interval analysis to solve the simultaneous localization and map building (SLAM) problem. The principle of the approach is to cast the SLAM problem into a constraint satisfaction problem for which interval propagation algorithms are particularly powerful. The resulting propagation method is illustrated on the localization and map building of an actual underwater robot.
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