An Analysis of the bias correction problem in simultaneous localization and mapping

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dc.contributor.author Wijesoma, WS
dc.contributor.author Perera, L
dc.contributor.author Adams, MD
dc.contributor.author Challa, S
dc.contributor.editor N/A
dc.date.accessioned 2009-11-09T05:36:57Z
dc.date.issued 2005-01
dc.identifier.citation Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005 (IROS 2005), 2005, pp. 747 - 752
dc.identifier.isbn 0-7803-8912-3
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/2882
dc.description.abstract Unmodeled systematic and nonsystematic errors in robot kinematics and measurement processes often cause adverse effects in several autonomous navigation tasks. In particular, accumulated sensor biases can render simultaneous localization and mapping (SLAM) algorithms of autonomous vehicles to perform very poorly especially in large unexplored terrains including cycles, as a result of the estimator divergence and inconsistency. One way to deal with this problem is the accurate modeling and precise calibration of sensors. However this may add up to longer setup and calibration times. Even after accurate calibration and modeling, sensor calibration may often subject to drifts, rendering the efforts ineffective. Therefore, the correct and effective way to deal with this problem is explicit estimation of these parameters with other states. In this work we address the estimation theoretic sensor bias correction problem in SLAM using a simple unified framework and establish theoretically, the behavior and properties of the solution with special consideration to diminishing uncertainty, rates of convergence and observability
dc.publisher IEEE
dc.relation.isbasedon 10.1109/IROS.2005.1544952
dc.subject convergence, localization, mapping
dc.subject convergence; localization; mapping
dc.title An Analysis of the bias correction problem in simultaneous localization and mapping
dc.type Conference Proceeding
dc.parent Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005 (IROS 2005)
dc.journal.number en_US
dc.publocation USA en_US
dc.publocation USA
dc.identifier.startpage 747 en_US
dc.identifier.endpage 752 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.conference IEEE/RSJ International Conference on Intelligent Robots and Systems
dc.conference.location Piscataway, USA en_US
dc.for 0913 Mechanical Engineering
dc.for 0910 Manufacturing Engineering
dc.personcode 0000026361 en_US
dc.personcode 0000026362 en_US
dc.personcode 0000026363 en_US
dc.personcode 040218 en_US
dc.percentage 50 en_US
dc.classification.name Manufacturing Engineering en_US
dc.classification.type FOR-08 en_US
dc.custom IEEE/RSJ International Conference on Intelligent Robots and Systems en_US
dc.date.activity 20050802 en_US
dc.date.activity 2005-08-02
dc.location.activity Piscataway, USA en_US
dc.location.activity Piscataway, USA
dc.description.keywords convergence; localization; mapping en_US
dc.description.keywords convergence
dc.description.keywords localization
dc.description.keywords mapping
dc.staffid 040218 en_US
pubs.embargo.period Not known
pubs.organisational-group /University of Technology Sydney
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology/School of Elec, Mech and Mechatronic Systems


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