A discussion of simultaneous localization and mapping
A discussion of simultaneous localization and mapping
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DOI：
10.1007/s10514-006-5735-x
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发表时间：
2006-01-01
影响因子：
3.5
通讯作者：
Frese, U
中科院分区：
文献类型：
--
作者：
Frese, U
本文旨在讨论SLAM问题的结构。该分析不是严格形式化的，而是基于非正式研究和数学推导。第一部分强调了估计地图的不确定性结构，其关键结果是“尽管位置不确定，但关系的确定性”。概述了 SLAM 中出现的所谓信息矩阵的近似稀疏性的形式证明。它支持上述特征，为基于油稀疏信息矩阵的算法提供了基础。进一步讨论了非线性问题以及信息矩阵和协方差矩阵之间的对偶性问题，并与解决SLAM的常用方法相关。最后，提出了理想SLAM解决方案应具备的地图质量、存储空间和计算时间的三个要求。针对这些要求讨论了当前的技术水平，包括术语“地图质量”的正式规范。
This paper aims at a discussion of the structure of the SLAM problem. The analysis is not strictly formal but based both on informal studies and mathematical derivation. The first part highlights the structure of uncertainty of an estimated map with the key result being "Certainty of Relations despite Uncertainty of Positions". A formal proof for approximate sparsity of so-called information matrices occurring in SLAM is sketched. It supports the above mentioned characterization and provides a foundation for algorithms based oil sparse information matrices.Further, issues of nonlinearity and the duality between information and covariance matrices are discussed and related to common methods for solving SLAM.Finally, three requirements concerning map quality, storage space and computation time ail ideal SLAM solution should have are proposed. The current state of the art is discussed with respect to these requirements including a formal specification of the term "map quality".