Dimensionality reduction for point feature SLAM problems with spherical covariance matrices
نویسندگان
چکیده
منابع مشابه
Dimensionality reduction for point feature SLAM problems with spherical covariance matrices
The main contribution of this paper is the dimensionality reduction for multiple-step 2D point feature based Simultaneous Localization and Mapping (SLAM), which is an extension of our previous work on one-step SLAM (Wang, Huang, Frese & Dissanayake 2013). It has been proved that SLAM with multiple robot poses and a number of point feature positions as variables is equivalent to an optimization ...
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This paper proves that the optimization problem of one-step point feature Simultaneous Localization and Mapping (SLAM) is equivalent to a nonlinear optimization problem of a single variable when the associated uncertainties can be described using spherical covariance matrices. Furthermore, it is proven that this optimization problem has at most two minima. The necessary and sufficient condition...
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ژورنال
عنوان ژورنال: Automatica
سال: 2015
ISSN: 0005-1098
DOI: 10.1016/j.automatica.2014.10.114