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An O(N²) Square Root Unscented Kalman Filter for Visual Simultaneous Localization and Mapping
2009 Edition, Volume 31, July 1, 2009 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This paper develops a square root unscented Kalman filter (SRUKF) for performing video-rate visual simultaneous localization and mapping (SLAM) using a single camera. The conventional UKF has been proposed previously...

A Square Root Unscented Kalman Filter for visual monoSLAM
2008 Edition, May 1, 2008 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This paper introduces a square root unscented Kalman filter (SRUKF) solution to the problem of performing visual simultaneous localization and mapping (SLAM) using a single camera. Several authors have proposed the conventional...

Square-root unscented Kalman filter based simultaneous localization and mapping
2010 Edition, June 1, 2010 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Simultaneous localization and mapping (SLAM) is concerned to be the key point to realize the real autonomy of mobile robot. Unscented Kalman filter (UKF) is widely applied in SLAM problem because of its directly using of nonlinear model. Concerning...

Square Root Unscented Kalman Filter based ceiling vision SLAM
2013 Edition, December 1, 2013 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This paper proposes a new approach of monocular ceiling vision based simultaneous localization and mapping (SLAM) by utilizing an improved Square Root Unscented Kalman Filter (SRUKF). With a monocular camera mounted on the top of...

The square root Unscented Kalman Filter in spacecrafts autonomous navigation
2008 Edition, December 1, 2008 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Concerning the problems in the process of the spacecraftpsilas autonomous navigation, the square-root unscented Kalman filter(SRUKF) is designed to estimate the relative state between the pursuing spacecraft and the target. C-W equation is discreted to...

Square-Root Unscented Kalman Filter for Vehicle Integrated Navigation
2007 Edition, Volume 1, August 1, 2007 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

In view of that there exist some defects when the extended Kalman filter (EKF) is applied in nonlinear state estimations, the square-root unscented Kalman filter (SRUKF), as a new nonlinear filtering method, is introduced to instead of EKF...

Iterated square root unscented Kalman particle filter
2010 Edition, November 1, 2010 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

In order to improve tracking estimation accuracy of square-root unscented Kalman particle filter (SRUKFPF), a new particle filter algorithm of update SRUKF based on iterated measurements is proposed. The algorithm produces the important density function of...

The square root unscented Kalman filter formulation of risk-sensitive filter
2008 Edition, June 1, 2008 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Risk-sensitive filter is a robust and numerically efficient algorithm compared to risk neutral filter with model uncertainties. For nonlinear plant, the square root unscented Kalman risk-sensitive filter (SUKRSF) is proposed in this...

Iterated Square Root Unscented Kalman Filter for state estimation GÇö CSTR model
2015 Edition, March 1, 2015 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

In this study, the use of improved Unscented Kalman Filter algorithm based on iterated measurement updates is proposed in an attempt to estimate the nonlinear and non-Gaussian state variables (the concentration and temperature) of the Continuously Stirred...

Square-root unscented Kalman filter for state estimation of permanent magnet synchronous motor
2016 Edition, September 1, 2016 - The Society of Instrument and Control Engineers - SICE

This paper investigates a square-root unscented Kalman filter for state estimation of a motor drive without position sensor. The square-root filter has advantages of the numerical stability, and memory and code size...

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