%0 Journal Article
%T Consistency Analysis of EKF-based SLAM by Measurement Noise and Observation Times<br>基于量测噪声和观测次数的EKF-SLAM一致性分析(英文)
%A LI Hui-Ping XU De-Min ZHANG Fu-Bin YAO Yao College of Marine Engineering
%A Northwestern Polytechnical University
%A Xi'an
%A PRChina
%A <br>李慧平
%A 徐德民
%A 张福斌
%A 姚尧
%J 自动化学报
%D 2009
%I 
%X Inconsistency is a fundamental problem in simultaneous localization and mapping (SLAM). Previous works from predecessors have studied the inconsistent problem of extended Kalman filter (EKF) SLAM algorithm focusing on the linearization errors. In this paper, we studied the inconsistency issue of EKF SLAM in theory based on measurement noise and observation time. In a simplified situation, we deduced some useful theorems of estimated covariance matrix. Then, we made use of them to investigate the inconsistency issue. We showed that the measurement noise and the observation times can drive the EKF SLAM out of consistency. Moreover, we demonstrated the explicit effects of measurement noise and observation times on inconsistency of the EKF SLAM. Our simulation experiments verified the results.
%K Simultaneous localization and mapping (SLAM)
%K extended Kalman filter (EKF)
%K consistency
%K measurement noise
%K observation times<br>Simultaneous
%K localization
%K and
%K mapping
%K (SLAM)
%K extended
%K Kalman
%K filter
%K (EKF)
%K consistency
%K measurement
%K noise
%K observation
%K times
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=2BB3061BA3E3A77704B74C6EFF0C3534&yid=DE12191FBD62783C&vid=6209D9E8050195F5&iid=9CF7A0430CBB2DFD&sid=A60ED5C9472B8BEB&eid=01A9864A3FFB986F&journal_id=0254-4156&journal_name=自动化学报&referenced_num=0&reference_num=0