A Counter Example to the Theory of Simultaneous Localization and Map Building
NAVAL RESEARCH LAB WASHINGTON DC VIRTUAL REALITY LAB
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This paper analyses the properties of the full covariance simultaneous map building problem SLAM. We prove that, 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.
- Statistics and Probability
- Surface Transportation and Equipment