Observability analysis of SLAM using fisher information matrix

2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008

Volumn , Issue , 2008, Pages 1242-1247

  Wang, Zhan ^a   Dissanayake, Gamini ^a  

^a UNIVERSITY OF TECHNOLOGY SYDNEY   (Australia)

Author keywords

Fisher information matrix; Observability; SLAM

Indexed keywords

OBSERVABILITY ANALYSIS; ROBOT POSE; SIMULTANEOUS LOCALIZATION AND MAPPING PROBLEMS; SLAM; STATE VECTORS; STATIC ESTIMATIONS;

COMPUTER VISION; OBSERVABILITY; RANDOM VARIABLES; ROBOTICS; ROBOTS;

FISHER INFORMATION MATRIX;

EID: 64549093222     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICARCV.2008.4795699     Document Type: Conference Paper

References (7)

1. Durrant-Whyte, H. and Bailey, T. 2006. Simultaneous localisation and mapping (SLAM): Part I, the essential algorithms. IEEE Robotics and Automation Magazine, 13(2):99-110.
2. Bailey, T. and Durrant-Whyte, H. 2006, Simultanouse localization and mapping (SLAM): Part II. IEEE Robotics and Automation Magazine, 13(3):108-117.
3. Bar-Shalom, Y., Li, X. R., and Kirubarajan, T. 2001. Estimation with Applications to Tracking and Navigation: Theory Algorithms and Software. John Wiley & Sons.
4. Andrade-Cetto, J. and Sanfeliu, A. 2005. The Effects of Partial Observability When Building Fully Correlated Maps. IEEE Transactions on Robotics, 21(4):771-777.
5. Vidal-Calleja, T., Bryson, M., Sukkarieh, S., Sanfeliu, A. and Andrade-Cetto, J. 2007. On the Observability of Bearing-only SLAM. In Proc. IEEE International Conference on Robotics and Automation, pp.41144119.
6. Lee, K. W., Wijesoma, W. S. and Javier, I. G. 2006. On the Observability and Observability Analysis of SLAM. In Proc. IEEE/RSJ, International Conference on Intelligent Robots and Systems, pp.3569-3574.
7. Frese, U. 2004. An O(logn) Algorithm for Simulateneous Localization and Mapping of Mobile Robots in Indoor Environments. Ph.D. thesis. University of Erlangen-Nürnberg.