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
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.
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