Article : texte imprimé

SLAM with joint sensor bias estimation : closed form solutions on observability, error bounds and convergence rates

Linthotage D. L. Perera, Auteur ; Wijerupage Sardha Wijesoma, Auteur ; Martin David Adams, Auteur |

Dans IEEE Transactions on control systems technology (Vol. 18 N° 3, Mai 2010)

Notable problems in Simultaneous Localization and Mapping (SLAM) are caused by biases and drifts in both exteroceptive and proprioceptive sensors. The impacts of sensor biases include inconsistent map estimates and inaccurate localization. Unlik[...]

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