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The common state filter for SLAM

Parsley, MP; Julier, SJ; (2008) The common state filter for SLAM. In: (pp. pp. 2060-2065). Green open access

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Abstract

This paper presents the Common State Filter (CSF), a novel and efficient suboptimal Multiple Hypothesis SLAM (MHSLAM) method for Kalman Filter-based SLAM algorithms. Conventional MHSLAM algorithms require the entire vehicle and map state to be copied for each hypothesis. The CSF, by contrast, maintains a single, common instance of the vast majority of the map and only copies the map portion that varies substantially across different hypotheses. We demonstrate the performance of the algorithm on the Victoria Park data set. ©2008 IEEE.

Type: Proceedings paper
Title: The common state filter for SLAM
ISBN-13: 9781424420582
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/IROS.2008.4651114
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
URI: https://discovery.ucl.ac.uk/id/eprint/16749
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