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Sensors 2015, 15(8), 19852-19879; doi:10.3390/s150819852

Simultaneous Localization and Mapping with Iterative Sparse Extended Information Filter for Autonomous Vehicles

1
School of Information Science and Engineering, Ocean University of China, 238 Songling Road, Qingdao 266100, China
2
School of Mechanical and Electrical Engineering, China Jiliang University, 258 Xueyuan Street, Xiasha High-Edu Park, Hangzhou 310018, China
*
Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 27 April 2015 / Revised: 3 August 2015 / Accepted: 6 August 2015 / Published: 13 August 2015
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [2734 KB, uploaded 13 August 2015]   |  

Abstract

In this paper, a novel iterative sparse extended information filter (ISEIF) was proposed to solve the simultaneous localization and mapping problem (SLAM), which is very crucial for autonomous vehicles. The proposed algorithm solves the measurement update equations with iterative methods adaptively to reduce linearization errors. With the scalability advantage being kept, the consistency and accuracy of SEIF is improved. Simulations and practical experiments were carried out with both a land car benchmark and an autonomous underwater vehicle. Comparisons between iterative SEIF (ISEIF), standard EKF and SEIF are presented. All of the results convincingly show that ISEIF yields more consistent and accurate estimates compared to SEIF and preserves the scalability advantage over EKF, as well. View Full-Text
Keywords: autonomous vehicles; autonomous navigation; SLAM; SEIF; consistency;scalability; iteration autonomous vehicles; autonomous navigation; SLAM; SEIF; consistency;scalability; iteration
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

He, B.; Liu, Y.; Dong, D.; Shen, Y.; Yan, T.; Nian, R. Simultaneous Localization and Mapping with Iterative Sparse Extended Information Filter for Autonomous Vehicles. Sensors 2015, 15, 19852-19879.

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