Title :
A closed form solution to the single degree of freedom simultaneous localisation and map building (SLAM) problem
Author :
Gibbens, Peter W. ; Dissanayake, Gamini M W M ; Durrant-Whyte, Hugh F.
Author_Institution :
Dept. of Aerosp., Mech. & Mechatronic Eng., Sydney Univ., NSW, Australia
Abstract :
Presents a closed form solution to the estimation-theoretic simultaneous localisation and map building (SLAM) problem. The solution is obtained by explicit solution of the differential Riccati equation associated with the n-landmark SLAM problem. The solution describes and explains the many experimental and theoretical results obtained so far in the study of the SLAM problem. Further, the solution, for the first time, allows a precise means of analysing the performance of different SLAM algorithms and enables the design of efficient SLAM systems
Keywords :
Kalman filters; Riccati equations; differential equations; estimation theory; mobile robots; path planning; sensors; 1 DOF simultaneous localisation and map building problem; closed form solution; differential Riccati equation; estimation-theoretic method; n-landmark problem; Aerospace engineering; Algorithm design and analysis; Closed-form solution; Covariance matrix; Large-scale systems; Mechatronics; Mobile robots; Remotely operated vehicles; Riccati equations; Simultaneous localization and mapping;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912757
