The DOI matches its Crossref record; 7 of the 7 references it cites were found in a registry or an index.
A counter example to the theory of simultaneous localization and map building
Abstract
The paper analyzes the properties of the full covariance simultaneous localization and map building problem (SLAM). We prove that, even 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.
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Citations
Cites
Estimating uncertain spatial relationships in robotics
Smith, R., Self, M., & Cheeseman, P. (2005) · Proceedings. 1987 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.1987.1087846 · Cited by 757
The SPmap: a probabilistic framework for simultaneous localization and map building
Castellanos, J. A., Montiel, J. M. M., Neira, J., & Tardos, J. D. (1999) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.795798 · Cited by 308
A Computationally Efficient Method for Large-Scale Concurrent Mapping and Localization
Leonard, J. J., & Feder, H. J. S. (2000) · Robotics Research · doi:10.1007/978-1-4471-0765-1_21 · Cited by 267
On the Structure and Solution of the Simultaneous Localisation and Map Building Problem
Newman, P. M. (1999) · Cited by 183
An Autonomous Guided Vehicle for Cargo Handling Applications
Durrant-Whyte, H. F. (1996) · The International Journal of Robotics Research · doi:10.1177/027836499601500501 · Cited by 165
Building a global map of the environment of a mobile robot: the importance of correlations
Castellanos, J. A., Tardós, J. D., & Schmidt, G. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1997.614274 · Cited by 109
New approach to map building using relative position estimates
Csorba, M., & Durrant-Whyte, H. F. (1997) · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · doi:10.1117/12.277214 · Cited by 41
Cited by
Simultaneous localization and mapping: part I
Durrant-Whyte, H., & Bailey, T. (2006) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2006.1638022 · Cited by 4,199
iSAM2: Incremental smoothing and mapping using the Bayes tree
Kaess, M., Johannsson, H., Roberts, R., Ila, V., Leonard, J. J., & Dellaert, F. (2012) · The International Journal of Robotics Research · doi:10.1177/0278364911430419 · Cited by 1,362
iSAM: Incremental Smoothing and Mapping
Kaess, M., Ranganathan, A., & Dellaert, F. (2008) · IEEE Transactions on Robotics · doi:10.1109/tro.2008.2006706 · Cited by 1,076
Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
Dellaert, F., & Kaess, M. (2006) · The International Journal of Robotics Research · doi:10.1177/0278364906072768 · Cited by 922
Robust visual inertial odometry using a direct EKF-based approach
Bloesch, M., Omari, S., Hutter, M., & Siegwart, R. (2015) · 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2015.7353389 · Cited by 917
Metadata
- Authors
- Julier, S. J., & Uhlmann, J. K.
- Venue
- Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)
- Publisher
- IEEE
- Published
- 2002-11-13
- Volume
- 4
- Pages
- 4238-4243
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2111295154
- Cited by
- 317
- References
- 7
- FWCI
- 10.16
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Julier, S. J., & Uhlmann, J. K. (2002). A counter example to the theory of simultaneous localization and map building. Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164). https://doi.org/10.1109/robot.2001.933280
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
