A comparison of EKF, UKF, FastSLAM2.0, and UKF-based FastSLAM algorithms

Zeyneb Kurt-Yavuz; Sirma Yavuz

doi:10.1109/INES.2012.6249866

A comparison of EKF, UKF, FastSLAM2.0, and UKF-based FastSLAM algorithms

Zeyneb Kurt-Yavuz^*, Sirma Yavuz

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

72 Citations (Scopus)

Abstract

This study aims to contribute a comparison of various simultaneous localization and mapping (SLAM) algorithms that have been proposed in literature. The performance of Extended Kalman Filter (EKF) SLAM, Unscented Kalman Filter (UKF) SLAM, EKF-based FastSLAM version 2.0, and UKF-based FastSLAM (uFastSLAM) algorithms are compared in terms of accuracy of state estimations for localization of a robot and mapping of its environment. The algorithms were run using the same type of robot on Player/Stage environment. The results show that the UKF-based FastSLAM has the best performance in terms of accuracy of localization and mapping. Unlike most of the previous applications of FastSLAM in literature, no waypoints are used in this study.

Original language	English
Title of host publication	INES 2012 - IEEE 16th International Conference on Intelligent Engineering Systems, Proceedings
Pages	37-43
Number of pages	7
DOIs	https://doi.org/10.1109/INES.2012.6249866
Publication status	Published - 1 Oct 2012
Externally published	Yes
Event	IEEE 16th International Conference on Intelligent Engineering Systems, INES 2012 - Lisbon, Portugal Duration: 13 Jun 2012 → 15 Jun 2012

Publication series

Name	INES 2012 - IEEE 16th International Conference on Intelligent Engineering Systems, Proceedings

Conference

Conference	IEEE 16th International Conference on Intelligent Engineering Systems, INES 2012
Country/Territory	Portugal
City	Lisbon
Period	13/06/12 → 15/06/12

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10.1109/INES.2012.6249866

Cite this

Kurt-Yavuz, Z., & Yavuz, S. (2012). A comparison of EKF, UKF, FastSLAM2.0, and UKF-based FastSLAM algorithms. In INES 2012 - IEEE 16th International Conference on Intelligent Engineering Systems, Proceedings (pp. 37-43). Article 6249866 (INES 2012 - IEEE 16th International Conference on Intelligent Engineering Systems, Proceedings). https://doi.org/10.1109/INES.2012.6249866

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title = "A comparison of EKF, UKF, FastSLAM2.0, and UKF-based FastSLAM algorithms",

abstract = "This study aims to contribute a comparison of various simultaneous localization and mapping (SLAM) algorithms that have been proposed in literature. The performance of Extended Kalman Filter (EKF) SLAM, Unscented Kalman Filter (UKF) SLAM, EKF-based FastSLAM version 2.0, and UKF-based FastSLAM (uFastSLAM) algorithms are compared in terms of accuracy of state estimations for localization of a robot and mapping of its environment. The algorithms were run using the same type of robot on Player/Stage environment. The results show that the UKF-based FastSLAM has the best performance in terms of accuracy of localization and mapping. Unlike most of the previous applications of FastSLAM in literature, no waypoints are used in this study.",

author = "Zeyneb Kurt-Yavuz and Sirma Yavuz",

year = "2012",

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language = "English",

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series = "INES 2012 - IEEE 16th International Conference on Intelligent Engineering Systems, Proceedings",

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note = "IEEE 16th International Conference on Intelligent Engineering Systems, INES 2012 ; Conference date: 13-06-2012 Through 15-06-2012",

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Kurt-Yavuz, Z & Yavuz, S 2012, A comparison of EKF, UKF, FastSLAM2.0, and UKF-based FastSLAM algorithms. in INES 2012 - IEEE 16th International Conference on Intelligent Engineering Systems, Proceedings., 6249866, INES 2012 - IEEE 16th International Conference on Intelligent Engineering Systems, Proceedings, pp. 37-43, IEEE 16th International Conference on Intelligent Engineering Systems, INES 2012, Lisbon, Portugal, 13/06/12. https://doi.org/10.1109/INES.2012.6249866

A comparison of EKF, UKF, FastSLAM2.0, and UKF-based FastSLAM algorithms. / Kurt-Yavuz, Zeyneb; Yavuz, Sirma.
INES 2012 - IEEE 16th International Conference on Intelligent Engineering Systems, Proceedings. 2012. p. 37-43 6249866 (INES 2012 - IEEE 16th International Conference on Intelligent Engineering Systems, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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A comparison of EKF, UKF, FastSLAM2.0, and UKF-based FastSLAM algorithms

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