HybridSLAM: A Robust Algorithm for Simultaneous Localization and Mapping

Amir Hossein Monjazeb; Jurek Sasiadek; Dan Necsulescu

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Paper

HybridSLAM: A Robust Algorithm for Simultaneous Localization and Mapping

Topics: Mobile Robots and Autonomous Systems

In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 267-274, 2015 , Colmar, Alsace, France

Authors: Amir Hossein Monjazeb ¹ ; Jurek Sasiadek ¹ and Dan Necsulescu ²

Affiliations: ¹ Carleton University, Canada ; ² Ottawa University, Canada

Keyword(s): Simultaneous Localization and Mapping (SLAM) Problem, Unscented HybridSLAM, Unscented Kalman Filter, Position Error, Time and Measurement Update.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

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.

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Paper citation in several formats:

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; ISSN 2184-2809, SciTePress, pages 267-274. DOI: 10.5220/0005535802670274

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Monjazeb, A.
AU - Sasiadek, J.
AU - Necsulescu, D.
PY - 2015
SP - 267
EP - 274
DO - 10.5220/0005535802670274
PB - SciTePress