HybridSLAM: A Robust Algorithm for Simultaneous Localization and Mapping

Amir Hossein Monjazeb, Jurek Sasiadek, Dan Necsulescu

Abstract

This paper addresses an ongoing research on a novel approach to Simultaneous Localization and Mapping problem called Unscented HybridSLAM. The main contribution of this paper is to develop the map update formulas along with proof results in order to investigate the validation of the map evolution. The investigation is presented using the help of simulations in terms of robustness, map fusion, and the update process. Results clearly show that as the vehicle travels along the path and the map evolves, the Unscented HybridSLAM algorithm avoids the overestimation of landmarks.

References

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Paper Citation


in Harvard Style

Monjazeb A., Sasiadek J. and Necsulescu D. (2015). HybridSLAM: A Robust Algorithm for Simultaneous Localization and Mapping . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 267-274. DOI: 10.5220/0005535802670274


in Bibtex Style

@conference{icinco15,
author={Amir Hossein Monjazeb and Jurek Sasiadek and Dan Necsulescu},
title={HybridSLAM: A Robust Algorithm for Simultaneous Localization and Mapping},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={267-274},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005535802670274},
isbn={978-989-758-123-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - HybridSLAM: A Robust Algorithm for Simultaneous Localization and Mapping
SN - 978-989-758-123-6
AU - Monjazeb A.
AU - Sasiadek J.
AU - Necsulescu D.
PY - 2015
SP - 267
EP - 274
DO - 10.5220/0005535802670274