Details

Autor(en) / Beteiligte

• Julier, S.J.
• Uhlmann, J.K.

Titel

A counter example to the theory of simultaneous localization and map building

Ist Teil von

• Proceedings - IEEE International Conference on Robotics and Automation, 2001, Vol.4, p.4238-4243 vol.4

Ort / Verlag

IEEE

Erscheinungsjahr

2001

Quelle

IEEE Xplore

Beschreibungen/Notizen

• 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.