IRI - Estimator stability analysis in SLAM

Publication

Estimator stability analysis in SLAM

Conference Article

Conference

IFAC Symposium on Intelligent Autonomous Vehicles (IAV)

Edition

5th

Pages

1-6

Doc link

http://iav04.isr.ist.utl.pt/

File

Download the digital copy of the doc pdf document

Authors

Projects associated

ANNA: Supervised learning of industrial scenes by means of an active vision equipped mobile robot.

Abstract

This work presents an analysis of the state estimation error dynamics for a linear system within the Kalman filter based approach to Simultaneous Localization and Map Building. Our objective is to demonstrate that such dynamics is marginally stable. The paper also presents the necessary modifications required in the observation model, in order to guarantee zero mean stable error dynamics. Simulations for a one-dimensional robot and a planar vehicle are presented.

Author keywords

SLAM, Kalman filter, observability

Scientific reference

T. Vidal-Calleja, J. Andrade-Cetto and A. Sanfeliu. Estimator stability analysis in SLAM, 5th IFAC Symposium on Intelligent Autonomous Vehicles, 2004, Lisbon, Portugal, pp. 1-6, 2005, Elsevier.