DocumentCode :
425970
Title :
Analysis of positioning uncertainty in simultaneous localization and mapping (SLAM)
Author :
Mourikis, Anastasios I. ; Roumeliotis, Stergios I.
Author_Institution :
Dept. of Comput. Sci. & Eng., Minnesota Univ., Minneapolis, MN, USA
Volume :
1
fYear :
2004
fDate :
28 Sept.-2 Oct. 2004
Firstpage :
13
Abstract :
This paper studies the time evolution of the covariance of the position estimates in single-robot simultaneous localization and mapping (SLAM). A closed-form expression is derived, that establishes a functional relation between the noise parameters of the robot´s proprioceptive and exteroceptive sensors, the number of features being mapped, and the attainable accuracy of SLAM. Furthermore, it is demonstrated how prior information about the spatial density of landmarks can be utilized in order to compute a tight upper bound on the expected covariance of the positioning errors. The derived closed-form expressions enable the prediction of SLAM positioning performance, without resorting to extensive simulations, and thus offer an analytical tool for determining the sensor characteristics required to achieve a desired degree of accuracy. Simulation experiments are conducted, that corroborate the presented theoretical analysis.
Keywords :
covariance matrices; mobile robots; navigation; position control; mobile robots; position estimation; positioning error covariance; positioning uncertainty analysis; robot sensor; robot simultaneous localization and mapping; Analytical models; Closed-form solution; Computational modeling; Performance analysis; Predictive models; Robot sensing systems; Sensor phenomena and characterization; Simultaneous localization and mapping; Uncertainty; Upper bound;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
Type :
conf
DOI :
10.1109/IROS.2004.1389322
Filename :
1389322
Link To Document :
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