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A Counter Example to the Theory of Simultaneous Localization and Map Building
| 题名： | A Counter Example to the Theory of Simultaneous Localization and Map Building |
| 作者： | Julier, Simon J;Uhlmann, Jeffrey K; |
| 关键词： | localization；counter；building；ampl；covar；angular；slam；simulation；beacon；process |
| 摘要： | This paper analyses the properties of the full covariance simultaneous map building problem (SLAM). We prove that, for the special case of a stationary vehicle (with no process noise) which uses a range-bearing sensor and has non-zero angular uncertainty, the full covariance SLAM algorithm always yields an inconsistent map. We also show, through simulations, that these conclusions appear to extend to a moving vehicle with process noise. However, these inconsistencies only become apparent after several hundred beacon updates. |
| 报告类型： | 科技报告 |
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