Invariant EKF based 2D Active SLAM with Exploration Task
Mengya Xu Yang Song Yongbo Chen Shoudong Huang Qi Hao Mengya Xu Yang Song Yongbo Chen Shoudong Huang Qi Hao
Right invariant extended Kalman filter (RIEKF) based simultaneous localization and mapping (SLAM) proposed recently has shown to be able to produce more consistent SLAM estimates as compared with traditional EKF based SLAM methods, including some improved EKF SLAM methods such as observability constrained-EKF (OC-EKF) SLAM. Latest results have demonstrated that its performance is very close to opt...