The Effect of Sensor Modality on Posterior Cramer-Rao Bounds for Simultaneous Localisation and Mapping

Daniel D. Selvaratnam; Iman Shames; Branko Ristic; Jonathan H. Manton

doi:10.1016/j.ifacol.2016.07.746

The Effect of Sensor Modality on Posterior Cramer-Rao Bounds for Simultaneous Localisation and Mapping

Daniel D. Selvaratnam, Iman Shames, Branko Ristic, Jonathan H. Manton

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	242-247
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	49
Issue number	15
DOIs	https://doi.org/10.1016/j.ifacol.2016.07.746
Publication status	Published - 2016
Externally published	Yes

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10.1016/j.ifacol.2016.07.746

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title = "The Effect of Sensor Modality on Posterior Cramer-Rao Bounds for Simultaneous Localisation and Mapping",

abstract = "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.",

keywords = "Bayesian bounds, bearing-only, centralized, co-operative, Cramer-Rao bounds, estimation theory, filtering, localisation, map-building, multi-agent, range-only, SLAM",

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AU - Ristic, Branko

AU - Manton, Jonathan H.

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AB - 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.

KW - Bayesian bounds

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KW - centralized

KW - co-operative

KW - Cramer-Rao bounds

KW - estimation theory

KW - filtering

KW - localisation

KW - map-building

KW - multi-agent

KW - range-only

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JO - IFAC-PapersOnLine

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The Effect of Sensor Modality on Posterior Cramer-Rao Bounds for Simultaneous Localisation and Mapping

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