Title :
The analysis of effect of observation models and data associations on the consistency of EKF SLAM
Author :
Lee, Young Hoon ; Jun, ChangHyun ; Choi, HyungA ; Ryu, Soo-Hyun ; Doh, Nakju Lett
Author_Institution :
Dept. of Electr. Eng., Univ. of Southern California, Los Angeles, CA, USA
Abstract :
Analysis on causes of inconsistency of Extended Kalman Filter (EKF) Simultaneous Localization And Mapping (SLAM) is mentioned in this paper. The effect of noise models and observation models on the inconsistent behavior of EKF SLAM was examined. In addition, the effect of registration of the false landmarks on inconsistent behavior of the EKF SLAM is mentioned in this paper. This paper identifies several causes of inconsistency of EKF SLAM by observability analysis.
Keywords :
Kalman filters; SLAM (robots); mobile robots; observability; sensor fusion; data associations; extended Kalman filter simultaneous localization and mapping; false landmarks; noise models; observability analysis; observation models; registration effect; Analytical models; Buildings; Observability; Simulation; Simultaneous localization and mapping; Uncertainty; EKF SLAM; EKF SLAM consistency; Observability analysis;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on
Conference_Location :
Incheon
Print_ISBN :
978-1-4577-0722-3
DOI :
10.1109/URAI.2011.6145996
