Extended Kalman Filter
Parent: SLAM Index Backlinks: RANSAC , nearest neighbour , Filtering in localisation
Source: SLAM for Dummies
- keeps track of an estimate of the position uncertainty
- keeps track of the uncertainty in the features/landmarks seen
General EKF implementation (non-SLAM)
Basic EKF for SLAM
Diagram:
| Triangle | Robot |
|---|---|
| Stars | Landmarks |
| Dashed triangle | Robot’s position based on odometry alone (where it thinks it is) |
| Dotted triangle | Robot’s position estimate based on EKF |
| Solid line triangle | Robot’s actual position in real life! |