DocumentCode
3276873
Title
Cramer-Rao Lower Bound Analysis for Mobile Robot Navigation
Author
Jiang, Zhiniin ; Zhang, Sen ; Xie, Lihua
Author_Institution
School of Electrical and Electronic Engineering, BLK S2, Nanyang Technological University, Singapore 639798, Email: g00131892@ntu.edu.sg
fYear
2005
fDate
5-8 Dec. 2005
Firstpage
229
Lastpage
234
Abstract
This paper studies the Cramer-Rao Lower Bound (CRLB) of the simultaneous localization and map building (SLAM) problem for mobile robot navigation. Performance evaluation of SLAM is carried out and the Extended Kalman filtering (EKF) technique is verifed to be effective for the SLAM problem through the CRLB analysis. Detailed simulation and experimental results show that the process noise, measurement noise and feature number has influences on the CRLB of the SLAM.
Keywords
Filtering algorithms; Mobile robots; Navigation; Noise measurement; Nonlinear equations; Sensor phenomena and characterization; Simultaneous localization and mapping; Target tracking; Time measurement; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Sensors, Sensor Networks and Information Processing Conference, 2005. Proceedings of the 2005 International Conference on
Print_ISBN
0-7803-9399-6
Type
conf
DOI
10.1109/ISSNIP.2005.1595584
Filename
1595584
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