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An EKF-SLAM algorithm with consistency properties
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In this paper we address the inconsistency of the EKF-based SLAM algorithm that stems from non-observability of the origin and orientation of the global reference frame. We prove on the non-linear two-dimensional problem with point landmarks observed that this type of inconsistency is remedied using the Invariant EKF, a recently introduced variant ot the EKF meant to account for the symmetries of the state space. Extensive Monte-Carlo runs illustrate the theoretical results.
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Cited by 2 Pith papers
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A synchronous nonlinear observer for LI-SLAM makes the full-state error dynamics almost globally asymptotically stable and locally exponentially stable by fusing intermittent GNSS and magnetometer measurements.
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Iterated Invariant EKF for Quadruped Robot Odometry
An IterIEKF algorithm for quadruped odometry, relying on proprioceptive kinematic constraints, outperforms vanilla IEKF and SO(3) Kalman filters in accuracy and consistency on simulations and real datasets.
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