The Effect of Sensor Modality on Posterior Cramer-Rao Bounds for Simultaneous Localisation and Mapping
DD Selvaratnam, I Shames, B Ristic, J MANTON
IFAC-PapersOnLine | International Federation of Automatic Control | Published : 2016
This paper applies Posterior Cramer-Rao Bound theory to the SLAM problem to measure the information supplied by different sensor modalities over time. Range-only, bearing-only and full range-bearing sensors were considered, as well as the gain in information achieved by using multiple sensors in centralized co-operative SLAM. An efficient recursive formula was used to compute the bound for a set of simulated scenarios, and its validity verified by comparing the bound with the second-order error performance of Fast SLAM 2.0 and the EKF.
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Awarded by DST
This reasearch is supported by DST Group under collaborative Research Agreements MYIP #5922, MYIP #5923, and by the Defence Science Institute as an initiative of the State Government of Victoria.