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- W1601945812 abstract "For simultaneous localization and mapping (SLAM) of mobile robots, an innovative solution is proposed, named adaptive square root cubature Kalman filter based SLAM algorithm (ASRCKF-SLAM). The main contribution of the proposed algorithm lies that: 1) Square root factors are used in the proposed ASRCKF-SLAM algorithm to improve the calculation efficiency by avoiding the time-consuming Cholesky decompositions. 2) Using the adaptive Sage-Husa estimator to solve the large estimation errors or even divergence problem caused by the time-varying or unknown noise. Simulation results obtained demonstrate that the proposed ASRCKF-SLAM algorithm is superior to the existed SLAM method in the aspect of estimation accuracy and computational efficiency." @default.
- W1601945812 created "2016-06-24" @default.
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- W1601945812 date "2015-08-01" @default.
- W1601945812 modified "2023-09-26" @default.
- W1601945812 title "An adaptive square root cubature Kalman filter based SLAM algorithm for mobile robots" @default.
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- W1601945812 doi "https://doi.org/10.1109/icma.2015.7237830" @default.
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