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

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.

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, Estats Units d'Amèrica, pp. 397-402, IEEE.