An Unscented rauch-tung-striebel smoother for a vehicle localization problem

Saifudin Razali, Keigo Watanabe, Shoichi Maeyama, Kiyotaka Izumi

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

The unscented Kalman filter (UKF) has become relatively a new technique used in a number of nonlinear estimation problems to overcome the limitation of Taylor series linearization. It uses a deterministic sampling approach known as sigma points to propagate nonlinear systems and has been discussed in many literature. However, a nonlinear smoothing problem has received less attention than the filtering problem. Therefore, in this article we examine an unscented smoother based on Rauch-Tung-Striebel form for discrete-time dynamic systems. This smoother has advantages available in unscented transformation over approximation by Taylor expansion as well as its benefit in derivative free. This smoothing technique has been implemented and evaluated through vehicle localization problem.

Original languageEnglish
Pages1261-1264
Number of pages4
Publication statusPublished - Dec 1 2010
EventJoint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010 - Okayama, Japan
Duration: Dec 8 2010Dec 12 2010

Other

OtherJoint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010
CountryJapan
CityOkayama
Period12/8/1012/12/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems

Fingerprint Dive into the research topics of 'An Unscented rauch-tung-striebel smoother for a vehicle localization problem'. Together they form a unique fingerprint.

  • Cite this

    Razali, S., Watanabe, K., Maeyama, S., & Izumi, K. (2010). An Unscented rauch-tung-striebel smoother for a vehicle localization problem. 1261-1264. Paper presented at Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010, Okayama, Japan.