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Título:	On the observability of bearing only SLAM
Autor/a:	Vidal Calleja, Teresa; Bryson, Mitch; Sukkarieh, Salah; Sanfeliu Cortés, Alberto; Andrade-Cetto, Juan
Otros autores:	Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents
Abstract:	In this paper we present an observability analysis for a mobile robot performing SLAM with a single monocular camera. The aim is to get a better understanding of the well known intuitive behavior of these systems, such as the need for triangulation to features from different positions in order to get accurate relative pose estimates. The characterization of the unobservable directions is made using the nullspace basis of the stripped observability matrix. This allow us to identify which vehicle motions are required to maximize the number of observable states in the system, which in turn affects accuracy in the estimation process. The analysis is performed by modeling the system in the continuous time domain as piecewise constant. Simulation results using an extended information filter are shown to verify the results of the observability analysis.
Abstract:	Peer Reviewed
Materia(s):	-Àrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeo -Àrees temàtiques de la UPC::Informàtica::Robòtica -Computer vision -Robots -Robotics -bearing-only SLAM -continuous time domain -mobile robot -monocular camera -observability analysis -stripped observability matrix -vehicle motions -Visió per ordinador -Robots -Robòtica -Classificació INSPEC::Pattern recognition::Computer vision -Classificació INSPEC::Automation::Robots
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Tipo de documento:	Objeto de conferencia
Editor:	IEEE
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