TY - GEN
T1 - The analysis of effect of observation models and data associations on the consistency of EKF SLAM
AU - Lee, Young Hoon
AU - Jun, Changhyun
AU - Choi, Hyunga
AU - Ryu, Soo Hyun
AU - Doh, Nakju Lett
PY - 2011
Y1 - 2011
N2 - Analysis on causes of inconsistency of Extended Kalman Filter (EKF) Simultaneous Localization And Mapping (SLAM) is mentioned in this paper. The effect of noise models and observation models on the inconsistent behavior of EKF SLAM was examined. In addition, the effect of registration of the false landmarks on inconsistent behavior of the EKF SLAM is mentioned in this paper. This paper identifies several causes of inconsistency of EKF SLAM by observability analysis.
AB - Analysis on causes of inconsistency of Extended Kalman Filter (EKF) Simultaneous Localization And Mapping (SLAM) is mentioned in this paper. The effect of noise models and observation models on the inconsistent behavior of EKF SLAM was examined. In addition, the effect of registration of the false landmarks on inconsistent behavior of the EKF SLAM is mentioned in this paper. This paper identifies several causes of inconsistency of EKF SLAM by observability analysis.
KW - EKF SLAM
KW - EKF SLAM consistency
KW - Observability analysis
UR - http://www.scopus.com/inward/record.url?scp=84863156999&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84863156999&partnerID=8YFLogxK
U2 - 10.1109/URAI.2011.6145996
DO - 10.1109/URAI.2011.6145996
M3 - Conference contribution
AN - SCOPUS:84863156999
SN - 9781457707223
T3 - URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
SP - 359
EP - 362
BT - URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
T2 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011
Y2 - 23 November 2011 through 26 November 2011
ER -