Improving the Consistency of Relative Map
dc.contributor.author
Nguyen, Viet
dc.contributor.author
Martinelli, Agostino
dc.contributor.author
Siegwart, Roland
dc.date.accessioned
2023-09-26T12:11:03Z
dc.date.available
2023-09-26T12:11:03Z
dc.date.issued
2006
dc.identifier.isbn
978-1-4244-0258-8
en_US
dc.identifier.isbn
1-4244-0258-1
en_US
dc.identifier.other
10.1109/IROS.2006.281643
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/633675
dc.description.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
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.subject
Consistency
en_US
dc.subject
Relative map
en_US
dc.subject
SLAM
en_US
dc.title
Improving the Consistency of Relative Map
dc.type
Conference Paper
dc.date.published
2007-01-15
ethz.book.title
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
en_US
ethz.pages.start
3556
en_US
ethz.pages.end
3561
en_US
ethz.event
19th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006)
en_US
ethz.event.location
Beijing, China
en_US
ethz.event.date
October 9-15, 2006
en_US
ethz.identifier.wos
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
ethz.date.deposited
2023-09-26T12:11:05Z
ethz.source
ECIT
ethz.identifier.importid
imp59364e0f8a90132330
ethz.identifier.importid
imp593651c9406d310230
ethz.ecitpid
pub:56607
ethz.ecitpid
pub:130254
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2023-09-26T12:11:06Z
ethz.rosetta.lastUpdated
2023-09-26T12:11:06Z
ethz.rosetta.versionExported
true
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/35360
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/163848
ethz.COinS
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