Improved UFastSLAM algorithm based on auxiliary particle filter. (English)
In: Journal of Harbin Institute of Technology. Social Sciences Edition / Haerbin Gongye Daxue Xuebao. Shehui Kexue Ban, Jg. 44 (2012-11-01), Heft 11, S. 123-128
academicJournal
Zugriff:
The UFastSLAM algorithm's resampling process will bring "sample reproverishment" problem. To improve the algorithm performance and increase the estimate accuracy, and based on the thought of auxiliary particle filtering algorithm, a solution named "Auxiliary UFastSLAM" is presented for SLAM problem. In view of the specialty of UFastSLAM algorithm, the recent observation information in its suggestion distribution functions seeking process to enhance stability of particle sampling, and one time weighting and second time weighting in its resampling process to alleviate particle degeneration are introduced. The experimental results indicate that the Auxiliary UFastSLAM algorithm does well on both estimate accuracy and consistency. [ABSTRACT FROM AUTHOR]
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Titel: |
Improved UFastSLAM algorithm based on auxiliary particle filter. (English)
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Autor/in / Beteiligte Person: | Guo-liang, ZHANG ; Wen-jun, TANG ; Bin, JING ; Zhan-xin, CHENG |
Zeitschrift: | Journal of Harbin Institute of Technology. Social Sciences Edition / Haerbin Gongye Daxue Xuebao. Shehui Kexue Ban, Jg. 44 (2012-11-01), Heft 11, S. 123-128 |
Veröffentlichung: | 2012 |
Medientyp: | academicJournal |
ISSN: | 1009-1971 (print) |
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