Sufficient Condition for Estimation in Designing <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-0.2810993pt" id="M1" height="12.1584pt" version="1.1" viewBox="-0.0657574 -11.8773 33.5197 12.1584" width="33.5197pt"><g transform="matrix(.018,0,0,-0.018,0,0)"><path id="g113-73" d="M828 650H570L564 622C646 614 650 609 634 524L604 366H253L281 524C296 608 308 615 382 622L388 650H132L126 622C211 615 214 609 198 524L121 122C106 42 102 35 23 28L17 0H276L282 28C196 35 191 40 206 122L243 324H597L559 123C544 42 537 35 452 28L446 0H710L716 28C632 35 628 43 643 122L719 524C735 610 741 615 822 622L828 650Z"/></g><g transform="matrix(.018,0,0,-0.018,15.027,0)"><path id="g113-30" d="M983 225C983 348 891 448 766 448C646 448 579 377 521 276C458 383 382 448 256 448C165 448 37 373 37 208C37 98 119 -12 256 -12C375 -12 440 60 498 161C561 53 639 -12 766 -12C865 -12 983 64 983 225ZM478 196C428 106 365 21 266 21C183 21 129 114 129 240C129 353 183 415 244 415C352 415 420 301 478 196ZM889 204C889 66 838 21 776 21C666 21 598 135 540 241C590 331 655 415 754 415C842 415 889 320 889 204Z"/></g></svg> Filter-Based SLAM

<div>Case  1: state error covariance performance between <svg height="9.21094pt" id="M307" style="vertical-align:-0.2129908pt" version="1.1" viewbox="-0.0498162 -8.99795 25.3937 9.21094" width="25.3937pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M828 650H570L564 622C646 614 650 609 634 524L604 366H253L281 524C296 608 308 615 382 622L388 650H132L126 622C211 615 214 609 198 524L121 122C106 42 102 35 23 28L17 0H276L282 28C196 35 191 40 206 122L243 324H597L559 123C544 42 537 35 452 28L446 0H710L716 28C632 35 628 43 643 122L719 524C735 610 741 615 822 622L828 650Z" id="g113-73"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="840" vert-adv-y="840"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,11.384,0)"><path d="M983 225C983 348 891 448 766 448C646 448 579 377 521 276C458 383 382 448 256 448C165 448 37 373 37 208C37 98 119 -12 256 -12C375 -12 440 60 498 161C561 53 639 -12 766 -12C865 -12 983 64 983 225ZM478 196C428 106 365 21 266 21C183 21 129 114 129 240C129 353 183 415 244 415C352 415 420 301 478 196ZM889 204C889 66 838 21 776 21C666 21 598 135 540 241C590 331 655 415 754 415C842 415 889 320 889 204Z" id="g113-30"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="1020" vert-adv-y="1020"></glyph.data></g></svg> filter and EKF.</div>

Mathematical Problems in Engineering

fig6

Figure 6

Figure 6: Sufficient Condition for Estimation in Designing <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-0.2810993pt" id="M1" height="12.1584pt" version="1.1" viewBox="-0.0657574 -11.8773 33.5197 12.1584" width="33.5197pt"><g transform="matrix(.018,0,0,-0.018,0,0)"><path id="g113-73" d="M828 650H570L564 622C646 614 650 609 634 524L604 366H253L281 524C296 608 308 615 382 622L388 650H132L126 622C211 615 214 609 198 524L121 122C106 42 102 35 23 28L17 0H276L282 28C196 35 191 40 206 122L243 324H597L559 123C544 42 537 35 452 28L446 0H710L716 28C632 35 628 43 643 122L719 524C735 610 741 615 822 622L828 650Z"/></g><g transform="matrix(.018,0,0,-0.018,15.027,0)"><path id="g113-30" d="M983 225C983 348 891 448 766 448C646 448 579 377 521 276C458 383 382 448 256 448C165 448 37 373 37 208C37 98 119 -12 256 -12C375 -12 440 60 498 161C561 53 639 -12 766 -12C865 -12 983 64 983 225ZM478 196C428 106 365 21 266 21C183 21 129 114 129 240C129 353 183 415 244 415C352 415 420 301 478 196ZM889 204C889 66 838 21 776 21C666 21 598 135 540 241C590 331 655 415 754 415C842 415 889 320 889 204Z"/></g></svg> Filter-Based SLAM 

Mathematical Problems in Engineering

Sufficient Condition for Estimation in Designing Filter-Based SLAM

Figure 6