Advertisement

Marginal Filter Stability

  • Juan Andrade-Cetto
  • Alberto Sanfeliu
Chapter
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 23)

Abstract

Two fundamental aspects in the use of the Kalman Filter for simultaneous localization and mapping are the issues of observability and controllability. Unfortunately, in SLAM, the state space constructed by appending the robot pose and the landmark locations is fully correlated; a situation that hinders full observability. Moreover, the modeling of map states as static landmarks yields a partially controllable state vector. The identification of these problems, and the steps taken to palliate them, constitute one of the main topics of this monograph. The bulk of which is covered in this chapter.

Keywords

Fisher Information Matrix Kalman Gain Landmark Location Partial Observability External Sensor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Authors and Affiliations

  • Juan Andrade-Cetto
    • 1
  • Alberto Sanfeliu
    • 1
  1. 1.Institut de Robòtica i Informàtica Industrial Universitat Politècnica de Catalunya – Consejo Superior de Investigaciones Científicas Llorens Artigas 4–6 08028 BarcelonaSpain

Personalised recommendations