The analysis of effect of observation models and data associations on the consistency of EKF SLAM

Young Hoon Lee, Changhyun Jun, Hyunga Choi, Soo Hyun Ryu, Nakju Lett Doh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationURAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
Pages359-362
Number of pages4
DOIs
Publication statusPublished - 2011
Event2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011 - Incheon, Korea, Republic of
Duration: 2011 Nov 232011 Nov 26

Publication series

NameURAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence

Other

Other2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011
CountryKorea, Republic of
CityIncheon
Period11/11/2311/11/26

Keywords

  • EKF SLAM
  • EKF SLAM consistency
  • Observability analysis

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications

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    Lee, Y. H., Jun, C., Choi, H., Ryu, S. H., & Doh, N. L. (2011). The analysis of effect of observation models and data associations on the consistency of EKF SLAM. In URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (pp. 359-362). [6145996] (URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence). https://doi.org/10.1109/URAI.2011.6145996