Sigma point-based fastslam: Solution to slam problem
This paper proposes a reduced sigma point transformation for a FastSLAM framework. The sigma point transformation is used to estimate robot poses in conjunction with generic particle filter used in standard FastSLAM framework. This method can estimate robot poses more consistently and accurately tha...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Asian Research Publishing Network (ARPN)
2016
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/29269/ http://umpir.ump.edu.my/id/eprint/29269/1/Sigma%20point-based%20fastslam_solution%20to%20SLAM%20problem.pdf |
| _version_ | 1848823243607113728 |
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| author | Zafizal, Z. Saifudin, Razali Mohd Razali, Daud Hamzah, Ahmad |
| author_facet | Zafizal, Z. Saifudin, Razali Mohd Razali, Daud Hamzah, Ahmad |
| author_sort | Zafizal, Z. |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper proposes a reduced sigma point transformation for a FastSLAM framework. The sigma point transformation is used to estimate robot poses in conjunction with generic particle filter used in standard FastSLAM framework. This method can estimate robot poses more consistently and accurately than the current standard particle filters, especially when involving highly nonlinear models or non-Gaussian noises. In addition, this algorithm avoids the calculation of the Jacobian for motion model which could be extremely difficult for high order systems. We proposed a sampling strategy known as a spherical simplex for sigma point transformation to estimate robot poses in FastSLAM framework. Simulation results are shown to validate the performance goals. |
| first_indexed | 2025-11-15T02:54:02Z |
| format | Article |
| id | ump-29269 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T02:54:02Z |
| publishDate | 2016 |
| publisher | Asian Research Publishing Network (ARPN) |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-292692022-08-23T08:01:10Z http://umpir.ump.edu.my/id/eprint/29269/ Sigma point-based fastslam: Solution to slam problem Zafizal, Z. Saifudin, Razali Mohd Razali, Daud Hamzah, Ahmad TK Electrical engineering. Electronics Nuclear engineering This paper proposes a reduced sigma point transformation for a FastSLAM framework. The sigma point transformation is used to estimate robot poses in conjunction with generic particle filter used in standard FastSLAM framework. This method can estimate robot poses more consistently and accurately than the current standard particle filters, especially when involving highly nonlinear models or non-Gaussian noises. In addition, this algorithm avoids the calculation of the Jacobian for motion model which could be extremely difficult for high order systems. We proposed a sampling strategy known as a spherical simplex for sigma point transformation to estimate robot poses in FastSLAM framework. Simulation results are shown to validate the performance goals. Asian Research Publishing Network (ARPN) 2016-05-20 Article PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/29269/1/Sigma%20point-based%20fastslam_solution%20to%20SLAM%20problem.pdf Zafizal, Z. and Saifudin, Razali and Mohd Razali, Daud and Hamzah, Ahmad (2016) Sigma point-based fastslam: Solution to slam problem. ARPN Journal of Engineering and Applied Sciences, 11 (10). pp. 6697-6702. ISSN 1819-6608. (Published) http://www.arpnjournals.org/jeas/research_papers/rp_2016/jeas_0516_4337.pdf |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Zafizal, Z. Saifudin, Razali Mohd Razali, Daud Hamzah, Ahmad Sigma point-based fastslam: Solution to slam problem |
| title | Sigma point-based fastslam: Solution to slam problem |
| title_full | Sigma point-based fastslam: Solution to slam problem |
| title_fullStr | Sigma point-based fastslam: Solution to slam problem |
| title_full_unstemmed | Sigma point-based fastslam: Solution to slam problem |
| title_short | Sigma point-based fastslam: Solution to slam problem |
| title_sort | sigma point-based fastslam: solution to slam problem |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/29269/ http://umpir.ump.edu.my/id/eprint/29269/ http://umpir.ump.edu.my/id/eprint/29269/1/Sigma%20point-based%20fastslam_solution%20to%20SLAM%20problem.pdf |