Publication
Estimator stability analysis in SLAM
Conference Article
Conference
IFAC Symposium on Intelligent Autonomous Vehicles (IAV)
Edition
5th
Pages
1-6
Doc link
File
Abstract
This work presents an analysis of the state estimation error dynamics for a linear system within the Kalman filter based approach to Simultaneous Localization and Map Building. Our objective is to demonstrate that such dynamics is marginally stable. The paper also presents the necessary modifications required in the observation model, in order to guarantee zero mean stable error dynamics. Simulations for a one-dimensional robot and a planar vehicle are presented.
Categories
robots.
Author keywords
SLAM, Kalman filter, observability
Scientific reference
T. Vidal-Calleja, J. Andrade-Cetto and A. Sanfeliu. Estimator stability analysis in SLAM, 5th IFAC Symposium on Intelligent Autonomous Vehicles, 2004, Lisbon, Portugal, pp. 1-6, 2005, Elsevier.
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