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Proceedings Paper

New approach to simultaneous localization and dynamic map building
Author(s): Michael Csorba; Jeffrey K. Uhlmann; Hugh F. Durrant-Whyte
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Paper Abstract

A new method for simultaneous vehicle localization and dynamic map building is described. The method models the noise sources as bounded distributions and can therefore produce bounded estimates for the vehicle and all the target positions. Correlations that arise between vehicle and target estimates when using other techniques, such as the Kalman filter, do not arise, and hence a significant saving in memory and computation is achieved.

Paper Details

Date Published: 27 May 1996
PDF: 11 pages
Proc. SPIE 2738, Navigation and Control Technologies for Unmanned Systems, (27 May 1996);
Show Author Affiliations
Michael Csorba, Univ. of Oxford (United Kingdom)
Jeffrey K. Uhlmann, Univ. of Oxford (United Kingdom)
Hugh F. Durrant-Whyte, Univ. of Sydney (Australia)


Published in SPIE Proceedings Vol. 2738:
Navigation and Control Technologies for Unmanned Systems
Scott A. Speigle, Editor(s)

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