Publication

The effects of partial observability in SLAM

Conference Article

Conference

Jornada de la Red Temática RedVisión (238)

Edition

3a

Pages

15-21

Doc link

http://ccuc.cbuc.cat/record=b3173120~S23*cat

File

Download the digital copy of the doc pdf document

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.

Categories

robots.

Author keywords

SLAM

Scientific reference

J. Andrade-Cetto and A. Sanfeliu. The effects of partial observability in SLAM, 3a Jornada de la Red Temática RedVisión, 2004, Barcelona, Espanya, pp. 15-21, FME, UPC.