Intermittent Measurement in Robotic Localization and Mapping with FIM Statistical Bounds

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2011/06/01

タイトル(英語): Intermittent Measurement in Robotic Localization and Mapping with FIM Statistical Bounds

著者名: Hamzah Ahmad (Kanazawa University), Toru Namerikawa (Keio University)

著者名(英語): Hamzah Ahmad (Kanazawa University), Toru Namerikawa (Keio University)

キーワード: EKF，Cramer Rao Lower Bound，Fisher Information Matrix，SLAM

要約(英語): The focus of study is to review the FIM statistical behavior in each EKF update and determine its potential in providing sufficient information about Robotic Localization and Mapping problem with intermittent measurements. We provide theoretical analysis and prove that the FIM can successfully describe both upper and lower bounds for the state covariance matrix whenever measurement data is not arrived during robot observations. This approach can give a better picture on how information are processed in EKF when measurement data is partially unavailable. Some simulation evaluations are also included to verify our results and consistently demonstrate the expected outcome.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.131 No.6 （2011） 特集：圧電材料・デバイス

本誌掲載ページ: 1223-1232 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/131/6/131_6_1223/_article/-char/ja/