17 May 2016 A comprehensive comparison of sigma-point Kalman filters applied on a complex maneuvering road
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Abstract
In this paper, a comprehensive comparison is made of the following sigma-point Kalman filters: unscented Kalman filter (UKF), cubature Kalman filter (CKF), and the central difference Kalman filter (CDKF). A simulation based on a complex maneuvering road (an s-path) is used as a benchmark problem. This paper studies the response, stability, robustness, convergence, and computational complexity of the filters. Future work will look at implementing the methods on a robot built for experimentation.
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Mohammad Al Shabi, Khaled Hatamleh, Samer Al Shaer, Iyad Salameh, S. Andrew Gadsden, "A comprehensive comparison of sigma-point Kalman filters applied on a complex maneuvering road", Proc. SPIE 9842, Signal Processing, Sensor/Information Fusion, and Target Recognition XXV, 98421I (17 May 2016); doi: 10.1117/12.2224233; https://doi.org/10.1117/12.2224233
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