DocumentCode
414004
Title
The effects of partial observability in SLAM
Author
Andrade-Cetto, Juan ; Sanfeliu, Alberto
Author_Institution
Institut de Robotica i Informatica, UPC-CSIC, Barcelona, Spain
Volume
1
fYear
2004
fDate
26 April-1 May 2004
Firstpage
397
Abstract
In this article, we show that partial observability hinders full reconstructibility of the state space in SLAM, making the final map estimate dependent on the initial observations, and not guaranteeing convergence to a positive semi-definite covariance matrix. By characterizing the form of the total Fisher information we are able to determine the unobservable state space directions. To overcome this problem, we formulate new fully observable measurement models that make SLAM stable.
Keywords
covariance matrices; mobile robots; observability; path planning; state-space methods; mobile robots; partial observability; semidefinite covariance matrix; simultaneous localization and map building; state-space directions; Convergence; Filters; Genetic expression; Observability; Simultaneous localization and mapping; Stability; State estimation; State-space methods; Steady-state; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1307182
Filename
1307182
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