publication . Conference object . Other literature type . 2008

Analysis and improvement of the consistency of extended Kalman filter based SLAM

Guoquan Huang; Stergios I. Roumeliotis; Anastasios I. Mourikis;
  • Published: 01 May 2008
  • Publisher: IEEE
In this work, we study the inconsistency of EKF- based SLAM from the perspective of observability. We analytically prove that when the Jacobians of the state and measurement models are evaluated at the latest state estimates during every time step, the linearized error-state system model of the EKF- based SLAM has observable subspace of dimension higher than that of the actual, nonlinear, SLAM system. As a result, the covariance estimates of the EKF undergo reduction in directions of the state space where no information is available, which is a primary cause of inconsistency. To address this issue, a new "first estimates Jacobian" (FEJ) EKF is proposed, which is...
arXiv: Computer Science::Robotics
free text keywords: Control theory, Observability, Mathematics, Kalman filter, State variable, State space, Covariance, Simultaneous localization and mapping, Algorithm, Subspace topology, Extended Kalman filter
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