The main contribution of this paper is an analysis of the FastSLAM algorithm for simultaneous localization and mapping (SLAM) problem. The convergence properties of the landmark uncertainty for FastSLAM are provided. The proofs clearly show that the limit of the uncertainty for the landmark estimation has no relationship with the vehicle's initial pose uncertainty. Furthermore, the consistency of vehicle pose in FastSLAM is analyzed by Monte Carlo tests and finding that through reducing the control noise and measurement noise the consistency of the vehicle pose can't be improved remarkably, whereas, by cancelling the re-sampling process in FastSLAM the consistency of the vehicle pose can be enhanced obviously.
Convergence and consistency analysis for FastSLAM
2009 IEEE Intelligent Vehicles Symposium ; 447-452
01.06.2009
3136573 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Convergence and Consistency Analysis for FastSLAM
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