Genişletilmiş Kalman filtresi yöntemine dayali eş zamanli konum belirleme ve haritalama algoritmasi

Sirma Yavuz; Zeyneb Kurt; M. Serdar Biçer

doi:10.1109/SIU.2009.5136492

Genişletilmiş Kalman filtresi yöntemine dayali eş zamanli konum belirleme ve haritalama algoritmasi

Translated title of the contribution: Simultaneous localization and mapping using extended Kalman filter

Sirma Yavuz^*, Zeyneb Kurt, M. Serdar Biçer

^*Corresponding author for this work

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

5 Citations (Scopus)

Abstract

In this study, an offline statistical estimation algorithm based on Extended Kalman Filter method is developed to solve the SLAM (Simultaneous Localization and Map Building) problem. For the application, a robot equipped with only simple and cheap sensors is used. Two of the most frequent problems in SLAM algorithms which are known as loop closing and data association are effectively solved by Extended Kalman Filter method.

Translated title of the contribution	Simultaneous localization and mapping using extended Kalman filter
Original language	Turkish
Title of host publication	2009 IEEE 17th Signal Processing and Communications Applications Conference, SIU 2009
Place of Publication	Piscataway, NJ
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	700-703
Number of pages	4
ISBN (Print)	9781424444366
DOIs	https://doi.org/10.1109/SIU.2009.5136492
Publication status	Published - 9 Apr 2009
Externally published	Yes
Event	2009 IEEE 17th Signal Processing and Communications Applications Conference, SIU 2009 - Antalya, Turkey Duration: 9 Apr 2009 → 11 Apr 2009

Publication series

Name	2009 IEEE 17th Signal Processing and Communications Applications Conference, SIU 2009

Conference

Conference	2009 IEEE 17th Signal Processing and Communications Applications Conference, SIU 2009
Country/Territory	Turkey
City	Antalya
Period	9/04/09 → 11/04/09

Access to Document

10.1109/SIU.2009.5136492

Cite this

Yavuz, S., Kurt, Z., & Biçer, M. S. (2009). Genişletilmiş Kalman filtresi yöntemine dayali eş zamanli konum belirleme ve haritalama algoritmasi. In 2009 IEEE 17th Signal Processing and Communications Applications Conference, SIU 2009 (pp. 700-703). Article 5136492 (2009 IEEE 17th Signal Processing and Communications Applications Conference, SIU 2009). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SIU.2009.5136492

Yavuz, Sirma ; Kurt, Zeyneb ; Biçer, M. Serdar. / Genişletilmiş Kalman filtresi yöntemine dayali eş zamanli konum belirleme ve haritalama algoritmasi. 2009 IEEE 17th Signal Processing and Communications Applications Conference, SIU 2009. Piscataway, NJ : Institute of Electrical and Electronics Engineers Inc., 2009. pp. 700-703 (2009 IEEE 17th Signal Processing and Communications Applications Conference, SIU 2009).

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abstract = "In this study, an offline statistical estimation algorithm based on Extended Kalman Filter method is developed to solve the SLAM (Simultaneous Localization and Map Building) problem. For the application, a robot equipped with only simple and cheap sensors is used. Two of the most frequent problems in SLAM algorithms which are known as loop closing and data association are effectively solved by Extended Kalman Filter method.",

author = "Sirma Yavuz and Zeyneb Kurt and Bi{\c c}er, {M. Serdar}",

year = "2009",

month = apr,

day = "9",

doi = "10.1109/SIU.2009.5136492",

language = "Turkish",

isbn = "9781424444366",

series = "2009 IEEE 17th Signal Processing and Communications Applications Conference, SIU 2009",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "700--703",

booktitle = "2009 IEEE 17th Signal Processing and Communications Applications Conference, SIU 2009",

address = "United States",

note = "2009 IEEE 17th Signal Processing and Communications Applications Conference, SIU 2009 ; Conference date: 09-04-2009 Through 11-04-2009",

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Yavuz, S, Kurt, Z & Biçer, MS 2009, Genişletilmiş Kalman filtresi yöntemine dayali eş zamanli konum belirleme ve haritalama algoritmasi. in 2009 IEEE 17th Signal Processing and Communications Applications Conference, SIU 2009., 5136492, 2009 IEEE 17th Signal Processing and Communications Applications Conference, SIU 2009, Institute of Electrical and Electronics Engineers Inc., Piscataway, NJ, pp. 700-703, 2009 IEEE 17th Signal Processing and Communications Applications Conference, SIU 2009, Antalya, Turkey, 9/04/09. https://doi.org/10.1109/SIU.2009.5136492

Genişletilmiş Kalman filtresi yöntemine dayali eş zamanli konum belirleme ve haritalama algoritmasi. / Yavuz, Sirma; Kurt, Zeyneb; Biçer, M. Serdar.
2009 IEEE 17th Signal Processing and Communications Applications Conference, SIU 2009. Piscataway, NJ: Institute of Electrical and Electronics Engineers Inc., 2009. p. 700-703 5136492 (2009 IEEE 17th Signal Processing and Communications Applications Conference, SIU 2009).

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

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AU - Biçer, M. Serdar

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AB - In this study, an offline statistical estimation algorithm based on Extended Kalman Filter method is developed to solve the SLAM (Simultaneous Localization and Map Building) problem. For the application, a robot equipped with only simple and cheap sensors is used. Two of the most frequent problems in SLAM algorithms which are known as loop closing and data association are effectively solved by Extended Kalman Filter method.

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DO - 10.1109/SIU.2009.5136492

M3 - Conference contribution

AN - SCOPUS:70350334771

SN - 9781424444366

T3 - 2009 IEEE 17th Signal Processing and Communications Applications Conference, SIU 2009

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BT - 2009 IEEE 17th Signal Processing and Communications Applications Conference, SIU 2009

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Yavuz S, Kurt Z, Biçer MS. Genişletilmiş Kalman filtresi yöntemine dayali eş zamanli konum belirleme ve haritalama algoritmasi. In 2009 IEEE 17th Signal Processing and Communications Applications Conference, SIU 2009. Piscataway, NJ: Institute of Electrical and Electronics Engineers Inc. 2009. p. 700-703. 5136492. (2009 IEEE 17th Signal Processing and Communications Applications Conference, SIU 2009). doi: 10.1109/SIU.2009.5136492

Genişletilmiş Kalman filtresi yöntemine dayali eş zamanli konum belirleme ve haritalama algoritmasi

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