Fast Kalman SLAM
Abstract
When Simultaneous Localization and Map Building is carried out in complex environments, reduction of computational complexity is a key problem. With a view to the high computational complexity of particle filter, a SLAM solution named ‘Fast Kalman SLAM’ is introduced. Adopting the ‘decomposition’ idea in the FastSLAM algorithm, Fast Kalman SLAM factors the joint SLAM state into a path component and a conditional map component. The robot pose is...
Paper Details
Title
Fast Kalman SLAM
Published Date
Dec 1, 2010
Volume
44-47
Pages
3174 - 3179
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