@InProceedings{Kurt2012EKF-SLAM,
  Title                    = {Improvement of the measurement update step of EKF-SLAM},
  Author                   = {Yavuz, Z.K. and Yavuz, S.},
  Booktitle                = {Intelligent Engineering Systems (INES), 2012 IEEE 16th International Conference on},
  Year                     = {2012},
  Month                    = {June},
  Pages                    = {61-65},

  Abstract                 = {In this study, the measurement update step of the  Extended Kalman Filter (EKF)-based Simultaneous  Localization and Mapping (SLAM) is improved. The  computational complexity of the measurement uncertainty  matrix inversion operation in the measurement update step is reduced via using Jacobi iteration method. It is observed that,  the calculation of the measurement uncertainty matrix inverse  by using Jacobi iteration method generates numerically more  stable results than naive single and batch update operations.  Moreover, it produces more accurate results than the results of  Cholesky decomposition with less complexity.},
  Doi                      = {10.1109/INES.2012.6249803}
}