UCL logo

UCL Discovery

UCL home » Library Services » Electronic resources » UCL Discovery

The Spherical Simplex Unscented Transformation

Julier, SJ; (2003) The Spherical Simplex Unscented Transformation. In: (pp. pp. 2430-2434).

Full text not available from this repository.


This paper describes a new and better-behaved sigma point selection strategy for the Unscented transformation (UT). The UT approximates the result of applying a specified nonlinear transformation to a given mean and covariance estimate. The UT works by constructing a set of points, referred to as sigma points, which have the same known statistics as the given estimate. This paper describes a sigma point selection strategy that requires, for n dimensions, n + 2 sigma points. n + 1 of these points lie on a hypersphere whose radius is proportional to √n. The weights on each point are proportional to 1/n. We illustrate the algorithm through an example which uses simultaneous localisation and map building.

Type: Proceedings paper
Title: The Spherical Simplex Unscented Transformation
URI: http://discovery.ucl.ac.uk/id/eprint/135518
Downloads since deposit
Download activity - last month
Download activity - last 12 months
Downloads by country - last 12 months

Archive Staff Only

View Item View Item