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A counter example to the theory of simultaneous localization and map building

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2 Author(s)
Julier, S.J. ; ITT Syst., Naval Res. Lab., Washington, DC, USA ; Uhlmann, J.K.

The paper analyzes the properties of the full covariance simultaneous localization and map building problem (SLAM). We prove that, even 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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Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

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