New approach to simultaneous localization and dynamic map building

Michael Csorba; Jeffrey K. Uhlmann; Hugh F. Durrant-Whyte

doi:10.1117/12.241084

27 May 1996 New approach to simultaneous localization and dynamic map building

Michael Csorba, Jeffrey K. Uhlmann, Hugh F. Durrant-Whyte

Proceedings Volume 2738, Navigation and Control Technologies for Unmanned Systems; (1996) https://doi.org/10.1117/12.241084
Event: Aerospace/Defense Sensing and Controls, 1996, Orlando, FL, United States

Abstract

A new method for simultaneous vehicle localization and dynamic map building is described. The method models the noise sources as bounded distributions and can therefore produce bounded estimates for the vehicle and all the target positions. Correlations that arise between vehicle and target estimates when using other techniques, such as the Kalman filter, do not arise, and hence a significant saving in memory and computation is achieved.

Citation Download Citation

Michael Csorba, Jeffrey K. Uhlmann, and Hugh F. Durrant-Whyte "New approach to simultaneous localization and dynamic map building", Proc. SPIE 2738, Navigation and Control Technologies for Unmanned Systems, (27 May 1996); https://doi.org/10.1117/12.241084

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