2Smith R, Self M, Cheeseman E Estimating uncertain spatial relationships in robotics[M]//Autonomous robot vehicles. New York, NY, USA: Springer-Verlag, 1990: 167-193.
3Australian Centre for Field Robotics. Source Code[DB/OL]. (2008-06-10) [2009-03-30]. http://www-personal.acfr.usyd. edu.au/tbailey/.
4Julier S, Uhlmann J, Durrant-Whyte H E A new method for the nonlinear transformation of means and covariances in filters and estimators[J]. IEEE Transactions on Automatic Control, 2000, 45(3): 477-482.
5Sunderhauf N, Lange S, Protzel E Using the unscented Kalman filter in mono-SLAM with inverse depth parameterization for autonomous airship control[C]//IEEE International Workshop on Safety, Security and Rescue Robotics. Piscataway, NJ, USA: IEEE, 2007: 1-6.
6Julier S J. The scaled unscented transformation[C]//American Control Conference. Piscataway, NJ, USA: IEEE, 2002: 4555- 4559.
7Wang X, Zhang H. A UPF-UKF framework for SLAM[C]// IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 2007: 1664-1669.
8Kim C, Sakthivel R, Chung W K. Unscented FastSLAM: A robust and efficient solution to the SLAM problem[J]. IEEE Transactions on Robotics, 2008, 24(4): 808-820.
9Shojaie K, Shahri A M. Iterated unscented SLAM algorithm for navigation of an autonomous mobile robot[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ, USA: IEEE, 2008: 1582-1587.
10Thrun S, Fox D, Burgard W. Monte Carlo localization with mixture proposal distribution[C]//National Conference on Artificial Intelligence. Menlo Park, CA, USA: AAAI, 2000: 859-865.