The effects of partial observability in SLAM

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 1, 2004, Pages 397-402

  Andrade Cetto, Juan ^a   Sanfeliu, Alberto ^a  

^a CSIC   (Spain)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; BROWNIAN MOVEMENT; DEGREES OF FREEDOM (MECHANICS); EIGENVALUES AND EIGENFUNCTIONS; GLOBAL POSITIONING SYSTEM; KALMAN FILTERING; LEAST SQUARES APPROXIMATIONS; MATRIX ALGEBRA;

COVARIANCE MATRIX; FISHER INFORMATION; PLANAR ROBOT; SIMULTANEOUS LOCALIZATION AND MAP BUILDING (SLAM);

ROBOTICS;

EID: 3042529021     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/robot.2004.1307182     Document Type: Conference Paper

References (9)

1. R. C. Smith and P. Cheeseman, "On the representation and estimation of spatial uncertainty," Int. J. Robot. Res., vol. 5, no. 4, pp. 56-68, 1986.
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. 37, no. 3, pp. 229-241, Jun. 2001.
3. P. W. Gibbens, G. M. W. M. Dissanayake, and H. F. Durrant-Whyte, "A closed form solution to the single degree of freedom simultaneous localisation and map building (SLAM) problem," in Proc. IEEE Int. Conf. Decision Control, Sydney, Dec. 2000, pp. 408-415.
4. Y. Bar-Shalom, X. R. Li, and T. Kirubarajan, Estimation with Applications to Tracking and Navigation. New York: John Wiley & Sons, 2001.
5. J. Andrade-Cetto, "Environment learning for indoor mobile robots," Ph.D. dissertation, UPC, Barcelona, Apr. 2003.
6. R. Todling, "Estimation theory and foundations on atmosferic data assimilation," Data Assimilation Office. Goddard Space Flight Center, Tech. Rep. DAO Note 1999-01, 1999.
7. J. Neira and J. D. Tardós, "Data association in stochastic mapping using the joint compatibility test," IEEE Trans. Robot. Automat., vol. 17, no. 6, pp. 890-897, Dec. 2001.
8. I. B. Risteski and K. G. Trenčevski, "Principal values and principal subspaces of vector spaces with inner product," Cont. Algebra Geom., vol. 42, no. 1, pp. 289-300, 2001.
9. T. Vidal-Calleja, J. Andrade-Cetto, and A. Sanfeliu, "Estimator stability analysis in SLAM," IRI, UPC, Tech. Rep. IRI-DT-04-01, Feb. 2004, submitted to 5th Symposium on Intelligent Autonomous Vehicles.