Convergence And Consistency Analysis For Extended Kalman Filter Based Slam

IEEE-inst Electrical Electronics Engineers Inc
Publication Type:
Journal Article
IEEE Transactions On Robotics, 2007, 23 (5), pp. 1036 - 1049
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This paper investigates the convergence properties and consistency of Extended Kalman Filter (EKF) based simultaneous localization and mapping (SLAM) algorithms. Proofs of convergence are provided for the nonlinear two-dimensional SLAM problem with point
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