Publication
The effects of partial observability in SLAM
Conference Article
Conference
IEEE International Conference on Robotics and Automation (ICRA)
Edition
2004
Pages
397-402
Doc link
http://dx.doi.org/10.1109/ROBOT.2004.1307182
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.
Scientific reference
J. Andrade-Cetto and A. Sanfeliu. The effects of partial observability in SLAM, 2004 IEEE International Conference on Robotics and Automation, 2004, New Orleans, LO, USA, pp. 397-402, IEEE.
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