Observability analysis of SLAM using fisher information matrix

• Published in: 2008 10th International Conference on Control Automation Robotics and Vision pp. 1242 - 1247
• Main Authors: Zhan Wang, Dissanayake, G.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.12.2008
• Subjects: Control systems; Estimation theory; Fisher Information Matrix; Information analysis; Mobile robots; Observability; Robot kinematics; Robot sensing systems; Robotics and automation; Simultaneous localization and mapping; SLAM; State estimation

This paper presents a new technique for evaluating the observability of the simultaneous localization and mapping (SLAM) problem. The state vector of an estimation theoretic formulation of the SLAM problem is recast to include all robot poses from which the measurements are made. This converts SLAM...