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Date
2006Type
- Conference Paper
ETH Bibliography
yes
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Abstract
In this paper, the independence relative map algorithm is presented. The algorithm aims to achieve the independence of relative map states. We show that using dependent relative quantities from the same observation creates a bias to the state covariance matrix, leading to an inaccurate and inconsistent relative map. Having independent map states improves the map consistency. Two case studies are presented in which we apply the proposed algorithm together with two popular relative map methods. Experimental results on simulated data show that the integrated algorithms outperform the original methods in term of map consistency and algorithm speed Show more
Publication status
publishedExternal links
Book title
2006 IEEE/RSJ International Conference on Intelligent Robots and SystemsPages / Article No.
Publisher
IEEEEvent
Subject
Consistency; Relative map; SLAMOrganisational unit
03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
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ETH Bibliography
yes
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