Conditions for suboptimal filter stability in SLAM

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Volumn 1, Issue , 2004, Pages 27-32

  Vidal Calleja, Teresa ^a   Andrade Cetto, Juan ^a   Sanfeliu, Alberto ^a  

^a CSIC   (Spain)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTATION THEORY; CONSTRAINT THEORY; ERROR ANALYSIS; KALMAN FILTERING; MAPPING; POSITION MEASUREMENT;

LANDMARKS; LOCALIZATION ERRORS; NONLINEAR MEASUREMENT;

POSITION CONTROL;

EID: 14044252931     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (9)

1. T. Duckett and U. Nehmzow, "Mobile robot self-localization and measurement of performance in middle-scale environments," Robot. Anton. Syst., vol. 24, no. 1-2, pp. 57-69, Aug. 1998.
2. M. W. M. G. Dissanayake, P. Newman, S. Clark, H. F. Durrant-Whyte, and M. Csorba, "A solution to the simultaneous localization and map building (SLAM) problem," IEEE Trans. Robot. Automat., vol. 17, no. 3, pp. 229-241, Jun. 2001.
3. J. Andrade-Cetto and A. Sanfeliu, "The effects of partial observability in SLAM," in Proc. IEEE Int. Conf. Robot. Automat., New Orleans, Apr. 2004, pp. 397-402.
4. J. E. Guivant and E. M. Nieto, "Solving computational and memory requirements of feature-based simultaneous localization and mapping algorithms," IEEE Trans. Robot. Automat., vol. 19, no. 4, pp. 749-755, Aug. 2003.
5. S. J. Julier, "The stability of covariance inflation methods for SLAM," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Las Vegas, Oct. 2003, pp. 2749-2754.
6. T. Kailath, A. H. Sayed, and B. Hassibi, Linear Estimation, set. Information and System Sciences Series, T. Kailath, Ed. Upper Saddle River: Prentice Hall, 2000.
7. Y. Bar-Shalom, X. R. Li, and T. Kirubarajan, Estimation with Applications to Tracking and Navigation. New York: John Wiley & Sons, 2001.
8. J. E. Guivant and E. M. Nieto, "Optimization of simultaneous localization and map-builidng algorithm for real-time implementation," IEEE Trans. Robot. Automat., vol. 17, no. 3, pp. 242-257, Jun. 2001.
9. E. Nebot, J. Guivant, and J. Nieto, "ACFR, experimental outdoor dataset," 2002. [Online], Available: http://www.acfr.usyd.edu.au/homepages/ academic/enebot/dataset.htm