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...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2021-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9521156/ |