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
fDate :
26 April-1 May 2004
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;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307182
