Dynamics-Based Modified Fast Simultaneous Localization and Mapping for Unmanned Aerial Vehicles With Joint Inertial Sensor Bias and Drift Estimation

In this paper, the problem of simultaneous localization and mapping (SLAM) using a modified Rao Blackwellized Particle Filter (RBPF) (a modified FastSLAM) is developed for a quadcopter system. It is intended to overcome the problem of inaccurate localization and mapping caused by inertial sensory fa...

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Detalhes bibliográficos

Principais autores:	Nargess Sadeghzadeh-Nokhodberiz, Aydin Can, Rustam Stolkin, Allahyar Montazeri
Formato:	Artigo
Idioma:	Inglês
Publicado em:	IEEE 2021-01-01
Colecção:	IEEE Access
Assuntos:	Unmanned aerial vehicle (UAV) Rao Blackwellized particle filtering (RBPF) simultaneous localization and mapping (SLAM) FastSLAM inertial sensors sensor calibration
Acesso em linha:	https://ieeexplore.ieee.org/document/9521156/
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