Accession Number:

ADA504762

Title:

A Counter Example to the Theory of Simultaneous Localization and Map Building

Descriptive Note:

Conference paper

Corporate Author:

NAVAL RESEARCH LAB WASHINGTON DC VIRTUAL REALITY LAB

Report Date:

2001-01-01

Pagination or Media Count:

7.0

Abstract:

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.

Subject Categories:

  • Statistics and Probability
  • Surface Transportation and Equipment

Distribution Statement:

APPROVED FOR PUBLIC RELEASE