NDLI: Augmented EKF based SLAM method for improving the accuracy of the feature map

Content Provider	IEEE Xplore Digital Library
Author	Jeong-Gwan Kang Won-Seok Choi Su-Yong An Se-Young Oh
Copyright Year	2010
Description	Author affiliation: Electrical Engineering Department, Pohang University of Science and Technology, Republic of Korea (Won-Seok Choi; Su-Yong An; Se-Young Oh) \|\| Electrical Engineering Department, Pohang University of Science and Technology, San 31, Hyojadong, Namgu, Republic of Korea (Jeong-Gwan Kang)
Abstract	In this paper, we address a method for improving the accuracy of the feature map from the extended Kalman filter based SLAM (EKF SLAM) by estimating the systematic parameters of the robot. Most error of the robot while traveling is divided into two categories: systematic and non systematic error. The systematic error contributes much more to odometry errors than non systematic one on most smooth indoor surfaces. So, we appended the systematic parameters of the robot to the state vector of EKF SLAM as its elements and estimated the systematic parameters while performing the prediction and update state of EKF SLAM. Because the additional elements to be estimated are appended to the state vector of the EKF SLAM, this is called an augmented EKF SLAM (AEKF SLAM). Experimental result is presented to validate that our AEKF SLAM is able to generate a more accurate feature map than conventional EKF SLAM by decreasing odometric error of the robot.
Starting Page	3725
Ending Page	3731
File Size	1449946
Page Count	7
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5652938
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Systematics Wheels Mobile robots Noise
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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