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基于全景视觉机器人的改进UKF-SLAM算法研究 被引量:2

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摘要 标准UKF-SLAM算法根据协方差矩阵计算的Sigma点会逐渐偏离真实状态估计值,影响定位精度。针对上述问题,该文引入平方根滤波的方法,在迭代更新过程中直接传递协方差矩阵的平方根,确保协方差矩阵的非负定性,提出了一种基于全景视觉的改进UKF-SLAM算法。并通过仿真实验,验证了该文提出的改进UKF-SLAM算法具有更高的定位精度。
作者 王开宇
出处 《科技资讯》 2016年第17期125-128,共4页 Science & Technology Information
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参考文献5

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二级参考文献25

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