Generalization of 2D SLAM observability condition (CROSBI ID 575802)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kitanov, Andrej ; Petrović, Ivan
engleski
Generalization of 2D SLAM observability condition
In this paper, we deduce general observability condition of all types of SLAM solutions regardless what states they consider directly in estimation, i.e. whether SLAM is feature based or pose (graph) based. This result comes from doing nonlinear observability analysis of the pose-based SLAM. We consider general vehicle motion model whose control inputs are translational and rotational velocity of the vehicle's body, and relative vehicle's pose measurements that come, for example but not necessarily, from stereo camera image registration. We conclude that, for the SLAM to be observable, one vehicle pose must be known apriori, or must be exactly reconstructable from observed features. This approach avoids extra non-singularity conditions, i.e. connection of the localization algorithm and a robot control law in observability analysis. Finally, we demonstrate the theory on the common pose estimation problem solved with the Extended Kalman Filter.
SLAM; nonlinear observability; estimation
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Podaci o prilogu
277-282.
2011.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of 5th European Conference on Mobile Robots (ECMR2011)
Lilienthal, Achim ; Duckett, Tom
Örebro:
Podaci o skupu
5th European Conference on Mobile Robots
predavanje
07.09.2011-09.09.2011
Örebro, Švedska