Derivation and Implementation of a Full 6D EKF-based Solution to Range-Bearing SLAM

Technical report: "Derivation and Implementation of a Full 6D EKF-based Solution to Range-Bearing SLAM", Jose-Luis Blanco, Perception and Mobile Robots Research Group, University of Malaga, Spain. (new version with corrected Jacobians, soon!, old version: PDF)

This document describes the theory behind the application kf-slam.

Bibtex info:

@techreport{
  blanco2008derivation,
  title={Derivation and implementation of a full 6D EKF-based solution to bearing-range SLAM},
  author={Blanco, J.L.},
  year={2008},
  institution={University of Malaga}
}