26 June 1997 New approach to map building using relative position estimates
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Abstract
A new method for automatic map building and vehicle localization is described. The method utilizes relative measurements of distance and angle between features of the environment. The noise in successive relative measurements is uncorrelated, hence a significant saving in memory and computation is achieved over other techniques, such as the augmented state Kalman filter.
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Michael Csorba, Michael Csorba, Hugh F. Durrant-Whyte, Hugh F. Durrant-Whyte, } "New approach to map building using relative position estimates", Proc. SPIE 3087, Navigation and Control Technologies for Unmanned Systems II, (26 June 1997); doi: 10.1117/12.277214; https://doi.org/10.1117/12.277214
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