A Counter Example to the Theory of Simultaneous Localization and Map Building

Abstract

This paper analyses the properties of the full covariance simultaneous map building problem (SLAM). We prove that, for the special case of a stationary vehicle (with no process noise) which uses a range-bearing sensor and has non-zero angular uncertainty, the full covariance SLAM algorithm always yields an inconsistent map. We also show, through simulations, that these conclusions appear to extend to a moving vehicle with process noise. However, these inconsistencies only become apparent after several hundred beacon updates.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2001
Accession Number
ADA504762

Entities

People

  • Jeffrey Uhlmann
  • Simon J. Julier

Organizations

  • United States Naval Research Laboratory

Tags

Communities of Interest

  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Algorithms
  • Coordinate Systems
  • Covariance
  • Cross Correlation
  • Equations
  • Filters
  • Kalman Filters
  • Maps
  • Military Applications
  • Military Research
  • Observation
  • Orientation (Direction)
  • Range Finders
  • Simulations
  • Simultaneous Localization And Mapping
  • Standards
  • Stationary

Readers

  • Acoustical Oceanography.
  • Computational Modeling and Simulation
  • Linear Algebra