Unscented Transformation of Vehicle States
We have already seen that the Extended Kalman Filter (EKF) is the most widely accepted tool for solving SLAM [31, 85]. One drawback however with the use of the EKF, is in the linear propagation of means and covariances. Vehicle and sensor models are usually of a very high nonlinear nature, and the effects of linearization required in the EKF can lead to filter divergence .
KeywordsKalman Filter Extend Kalman Filter Unscented Kalman Filter Vehicle State Sigma Point
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