The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Convergence and Consistency Analysis for Extended Kalman Filter Based SLAM
Open accessAbstract
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.
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Cites
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
A solution to the simultaneous localization and map building (SLAM) problem
Dissanayake, M. W. M. G., Newman, P., Clark, S., Durrant-Whyte, H. F., & Csorba, M. (2001) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.938381 · Cited by 2,661
Cited by
Simultaneous Localization and Mapping: A Survey of Current Trends in Autonomous Driving
Bresson, G., Alsayed, Z., Yu, L., & Glaser, S. (2017) · IEEE Transactions on Intelligent Vehicles · doi:10.1109/tiv.2017.2749181 · Cited by 885
Edge Computing for Autonomous Driving: Opportunities and Challenges
Liu, S., Liu, L., Tang, J., Yu, B., Wang, Y., & Shi, W. (2019) · Proceedings of the IEEE · doi:10.1109/jproc.2019.2915983 · Cited by 778
Simultaneous Localization and Mapping
Thrun, S. (2007) · Springer Tracts in Advanced Robotics · doi:10.1007/978-3-540-75388-9_3 · Cited by 530
LINS: A Lidar-Inertial State Estimator for Robust and Efficient Navigation
Qin, C., Ye, H., Pranata, C. E., Han, J., Zhang, S., & Liu, M. (2020) · 2020 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra40945.2020.9197567 · Cited by 391
Observability-based Rules for Designing Consistent EKF SLAM Estimators
Huang, G. P., Mourikis, A. I., & Roumeliotis, S. I. (2010) · The International Journal of Robotics Research · doi:10.1177/0278364909353640 · Cited by 272
Metadata
- Authors
- Huang, S., & Dissanayake, G.
- Venue
- IEEE Transactions on Robotics
- Published
- 2007-10
- Volume
- 23
- Issue
- 5
- Pages
- 1036-1049
- ISSN
- 1552-3098 (ISSN-L)
- OpenAlex
- W2011754354
- Cited by
- 402
- References
- 2
- FWCI
- 43.08
- Type
- journal article
- Language
- en
- Open access
- green
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