ROBUST FAST SIMULTANEOUS LOCALIZATION AND MAPPING METHOD APPLYING UNSCENTED FILTER

摘要

A method for fast simultaneous localization and mapping is provided to make it unnecessary to use a jacobian matrix and inaccurate linear approximation of a non-linear function, by using an UKF(Unscented Kalman Filter) in making of a map and using UT(Unscented Transformation) in initializing of new feature points. An operation of estimating a position of a moving object and an operation of making a figure map are simultaneously performed. Feature points of the figure map are updated by using an UKF in a fast SLAM(Simultaneous Localization and Mapping) framework. New feature points extracted from sensor information are initialized by using UT.