Robocentric map joining: Improving the consistency of EKF-SLAM

Authors:
J. A. Castellanos;R. Martinez-Cantin;J. D. Tardós;J. Neira
Affiliations:
Dept. Informática e Ingeniería de Sistemas, Instituto de Investigación en Ingeniería de Aragón (I3A), Universidad de Zaragoza, María de Luna 1, E-50018 Zaragoza, Spai ...;Dept. Informática e Ingeniería de Sistemas, Instituto de Investigación en Ingeniería de Aragón (I3A), Universidad de Zaragoza, María de Luna 1, E-50018 Zaragoza, Spai ...;Dept. Informática e Ingeniería de Sistemas, Instituto de Investigación en Ingeniería de Aragón (I3A), Universidad de Zaragoza, María de Luna 1, E-50018 Zaragoza, Spai ...;Dept. Informática e Ingeniería de Sistemas, Instituto de Investigación en Ingeniería de Aragón (I3A), Universidad de Zaragoza, María de Luna 1, E-50018 Zaragoza, Spai ...
Venue:
Robotics and Autonomous Systems
Year:
2007

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Abstract

One of the greatest obstacles to the use of Simultaneous Localization And Mapping (SLAM) in a real-world environment is the need to maintain the full correlation structure between the vehicle and all of the landmark estimates. This structure is computationally ...