publication . Other literature type . Conference object . 2006

Consistency of the EKF-SLAM Algorithm

Timothy S. Bailey; Jose Guivant; M. Stevens; Juan Nieto; Eduardo Nebot;
Open Access
  • Published: 01 Oct 2006
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Abstract
This paper presents an analysis of the extended Kalman filter formulation of simultaneous localisation and mapping (EKF-SLAM). We show that the algorithm produces very optimistic estimates once the "true" uncertainty in vehicle heading exceeds a limit. This failure is subtle and cannot, in general, be detected without ground-truth, although a very inconsistent filter may exhibit observable symptoms, such as disproportionately large jumps in the vehicle pose update. Conventional solutions - adding stabilising noise, using an iterated EKF or unscented filter, etc., - do not improve the situation. However, if "small" heading uncertainty is maintained, EKF-SLAM exhi...
Subjects
free text keywords: Simultaneous localisation and mapping, Observable, Mobile robot, Iterated function, Invariant extended Kalman filter, Kalman filter, Simultaneous localization and mapping, Control theory, Extended Kalman filter, Computer science
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