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Proceedings Paper

New approach to map-building using relative position estimates
Author(s): Michael Csorba; Hugh F. Durrant-Whyte
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Paper Abstract

A new method for automatic map building and vehicle localization is described. The method utilizes relative measurements of distance and angle between features of the environment. The noise in successive relative measurements is uncorrelated, hence a significant saving in memory and computation is achieved over other techniques, such as the augmented state Kalman filter.

Paper Details

Date Published: 26 June 1997
PDF: 11 pages
Proc. SPIE 3087, Navigation and Control Technologies for Unmanned Systems II, (26 June 1997); doi: 10.1117/12.277214
Show Author Affiliations
Michael Csorba, Univ. of Oxford (United Kingdom)
Hugh F. Durrant-Whyte, Univ. of Sydney (Australia)

Published in SPIE Proceedings Vol. 3087:
Navigation and Control Technologies for Unmanned Systems II
Scott A. Speigle, Editor(s)

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