Cooperative Multi-Robot Monocular-SLAM Using Salient Landmarks
CAR '09 Proceedings of the 2009 International Asia Conference on Informatics in Control, Automation and Robotics
Differential evolution solution to the SLAM problem
Robotics and Autonomous Systems
Journal of Intelligent and Robotic Systems
IEEE/ACM Transactions on Computational Biology and Bioinformatics (TCBB)
A stochastically stable solution to the problem of robocentric mapping
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Finding good cycle constraints for large scale multi-robot SLAM
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
On the complexity and consistency of UKF-based SLAM
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
SLAM in O(log n) with the combined Kalman - information filter
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
On the consistency of EKF-SLAM: focusing on the observation models
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Observability-based Rules for Designing Consistent EKF SLAM Estimators
International Journal of Robotics Research
The role of Bayesian bounds in comparing SLAM algorithms performance
PerMIS '08 Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems
Research of mobile robot SLAM based on EKF and its improved algorithms
IITA'09 Proceedings of the 3rd international conference on Intelligent information technology application
SLAM in O(logn) with the Combined Kalman-Information Filter
Robotics and Autonomous Systems
Building feature-based maps with B-splines for integrated exploration
IBERAMIA'10 Proceedings of the 12th Ibero-American conference on Advances in artificial intelligence
IEEE/ACM Transactions on Computational Biology and Bioinformatics (TCBB)
Impact of Landmark Parametrization on Monocular EKF-SLAM with Points and Lines
International Journal of Computer Vision
Bearing-only visual SLAM for small unmanned aerial vehicles in GPS-denied environments
International Journal of Automation and Computing
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This paper investigates the convergence properties and consistency of extended Kalman filter (EKF) based simultaneous localization and mapping (SLAM) algorithms. Proofs of convergence are provided for the nonlinear two-dimensional SLAM problem with point landmarks observed using a range-and-bearing sensor. It is shown that the robot orientation uncertainty at the instant when landmarks are first observed has a significant effect on the limit and/or the lower bound of the uncertainties of the landmark position estimates. This paper also provides some insights to the inconsistencies of EKF based SLAM that have been recently observed. The fundamental cause of EKF SLAM inconsistency for two basic scenarios are clearly stated and associated theoretical proofs are provided.