An unscented Rauch-Tung-Striebel smoother for SLAM problem

Saifudin Razali, Keigo Watanabe, Shoichi Maeyama, Kiyotaka Izumi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (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 un-scented 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 Simultaneous Localization and Mapping, SLAM problem.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages1304-1308
Number of pages5
Publication statusPublished - 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: Sep 13 2011Sep 18 2011

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period9/13/119/18/11

Fingerprint

Taylor series
Linearization
Kalman filters
Nonlinear systems
Dynamical systems
Sampling
Derivatives

Keywords

  • nonlinear smoother
  • SLAM
  • Unscented transformation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Razali, S., Watanabe, K., Maeyama, S., & Izumi, K. (2011). An unscented Rauch-Tung-Striebel smoother for SLAM problem. In Proceedings of the SICE Annual Conference (pp. 1304-1308). [6060536]

An unscented Rauch-Tung-Striebel smoother for SLAM problem. / Razali, Saifudin; Watanabe, Keigo; Maeyama, Shoichi; Izumi, Kiyotaka.

Proceedings of the SICE Annual Conference. 2011. p. 1304-1308 6060536.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Razali, S, Watanabe, K, Maeyama, S & Izumi, K 2011, An unscented Rauch-Tung-Striebel smoother for SLAM problem. in Proceedings of the SICE Annual Conference., 6060536, pp. 1304-1308, 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011, Tokyo, Japan, 9/13/11.
Razali S, Watanabe K, Maeyama S, Izumi K. An unscented Rauch-Tung-Striebel smoother for SLAM problem. In Proceedings of the SICE Annual Conference. 2011. p. 1304-1308. 6060536
Razali, Saifudin ; Watanabe, Keigo ; Maeyama, Shoichi ; Izumi, Kiyotaka. / An unscented Rauch-Tung-Striebel smoother for SLAM problem. Proceedings of the SICE Annual Conference. 2011. pp. 1304-1308
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