Improved FastSLAM algorithm

Computer Engineering and Applications ›› 2007, Vol. 43 ›› Issue (36): 4-6.

• 博士论坛 • Previous Articles Next Articles

Improved FastSLAM algorithm

KANG Ye-wei¹,HUANG Ya-lou²,SUN Feng-chi²,YUAN Jing¹

1.College of Information Technical Science，Nankai University，Tianjin 300071，China
2.College of Software，Nankai University，Tianjin 300071，China

Received:1900-01-01 Revised:1900-01-01 Online:2007-12-21 Published:2007-12-21
Contact: KANG Ye-wei

一种改进的FastSLAM算法

康叶伟¹,黄亚楼²,孙凤池²,苑晶¹

1.南开大学信息技术科学学院，天津 300071
2.南开大学软件学院，天津 300071

通讯作者: 康叶伟

Abstract

Abstract: Simultaneous localization and mapping，for short SLAM，is a necessary prerequisite to make mobile robot truly autonomous，which is a hot research topic today.FastSLAM as a successful SLAM method abstracts many researchers’ attentions.FastSLAM factors the SLAM problem into a localization problem and a mapping problem in which the landmark position is estimated by EKF.A modified FastSLAM is presented，using the UKF to replace the EKF to estimate the landmark position.So we can improve the estimation precision，at the same time no need to linearize the sensor observation mode and to compute its Jacobian matrix.

Key words: Simultaneous Localization and Mapping（SLAM）, Unscented Kalman Filter（UKF）, Extended Kalman Filter（EKF）, FastSLAM

摘要：

同时定位与建图是移动机器人实现真正自治的必要前提，FastSLAM作为一种成功的SLAM方法受到研究者的广泛青睐，FastSLAM将SLAM问题分为一个定位问题和一个建图问题，其中用扩展卡尔曼滤波器（EKF）实现地图陆标的估计与更新，提出了一种改进的FastSLAM方法，用UKF滤波器代替EKF实现FastSLAM中的陆标估计，使得陆标的估计精度提高，该方法同时具有UKF滤波器无需求解观测模型的雅克比矩阵的优点。

关键词: 同时定位与建图, UKF, 扩展卡尔曼滤波器, FastSLAM

KANG Ye-wei¹,HUANG Ya-lou²,SUN Feng-chi²,YUAN Jing¹. Improved FastSLAM algorithm[J]. Computer Engineering and Applications, 2007, 43(36): 4-6.

康叶伟¹,黄亚楼²,孙凤池²,苑晶¹. 一种改进的FastSLAM算法[J]. 计算机工程与应用, 2007, 43(36): 4-6.

[1]	XU Shaojie, CAO Chuqing, WANG Yongjuan. Application Research of Visual SLAM in Indoor Dynamic Scenes [J]. Computer Engineering and Applications, 2021, 57(8): 175-179.
[2]	ZHOU Yan, KUANG Hongzhang, MU Jinzhen, WANG Dongli, LIU Zongming. Improved Monocular ORB-SLAM for Semi-dense 3D Reconstruction [J]. Computer Engineering and Applications, 2021, 57(8): 180-184.
[3]	YANG Shiqiang, BAI Lele, ZHAO Cheng, WANG Guodong, LI Dexin. Improved Qtree_ORB Algorithm [J]. Computer Engineering and Applications, 2021, 57(20): 82-89.
[4]	YANG Shiqiang, FAN Guohao, BAI Lele, ZHAO Cheng, LI Dexin. Geometric Constraint-Based Visual SLAM Under Dynamic Indoor Environment [J]. Computer Engineering and Applications, 2021, 57(16): 203-212.
[5]	YANG Shuang, ZENG Bi, HE Weiting. Research on SLAM Technology Combining Semantic Laser and Landmark Information [J]. Computer Engineering and Applications, 2020, 56(18): 262-271.
[6]	LIU Mingqin, ZHANG Xiaoguang, XU Guiyun, LI Zongzhou. Review of Development of Single Robot SLAM Technology and Related Mainstream Technology [J]. Computer Engineering and Applications, 2020, 56(18): 25-35.
[7]	WU Xiru, HUANG Yuyuan, WANG Yaonan. Robot RGB-D SLAM Algorithm Based on Improved ORB Feature [J]. Computer Engineering and Applications, 2020, 56(14): 35-44.
[8]	SUN Lei1，2, HUANG Guoyong1，2, LI Yue1，2. Exploration of improved strong tracking SVD-UKF used in BDS/INS integrated navigation [J]. Computer Engineering and Applications, 2017, 53(10): 225-229.
[9]	XIA Wenling1, GU Zhaopeng2, YANG Tangsheng2. Real-time 3-D reconstruction algorithm based on Kinect and MonoSLAM [J]. Computer Engineering and Applications, 2014, 50(24): 199-203.
[10]	ZHU Bo, ZHOU You, WU Guofeng, HU Hanying. AR prediction model based IMM tracking algorithm [J]. Computer Engineering and Applications, 2014, 50(24): 222-226.
[11]	FANG Qing, LI Ping. Unscented Kalman filter-based indoor positioning [J]. Computer Engineering and Applications, 2014, 50(14): 74-77.
[12]	CHEN Yan, YANG Hongqiao. Kalman filter of image based on compound templates iteration [J]. Computer Engineering and Applications, 2012, 48(9): 181-184.
[13]	RAO Lingshan1，2, LIN Yin1，2, YANG Xubo1，2, XIAO Shuangjiu1，2. Reconstructing of scene and tracking of moving objects for augmented reality game [J]. Computer Engineering and Applications, 2012, 48(9): 198-200.
[14]	ZHANG Yi, LIAN Jingjing, HUANG Wengang. Algorithm of outlier rejecting unscented Kalman filter [J]. Computer Engineering and Applications, 2012, 48(33): 153-156.
[15]	WU Junjun1，2, HU Guosheng1, ZHU Kewu1. Visual navigation with biomimetic robot [J]. Computer Engineering and Applications, 2012, 48(22): 1-9.

Improved FastSLAM algorithm

一种改进的FastSLAM算法

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics