Computational load is a critical factor in sensor fusion applications especially in
mobile devices (e.g.. robots, drones, etc.) with limited resources onboard. The paper
proposes a computational relaxation for the Unscented Transformation (UT) that is
an essential part of the Unscented Kalman-filter based applications. The derivation
for the most commonly used UT variant is presented and it is shown how the number
of necessary sigma points is reduced. The practical merit of the proposed relaxation
is demonstrated through a mobile robot localization example that clearly shoos the
benefit in terms of CPU time.
