Consistency of the EKF-SLAM Algorithm

@article{Bailey2006ConsistencyOT,
  title={Consistency of the EKF-SLAM Algorithm},
  author={Tim Bailey and Juan I. Nieto and Jos{\'e} E. Guivant and Michael Stevens and Eduardo Mario Nebot},
  journal={2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2006},
  pages={3562-3568}
}
This paper presents an analysis of the extended Kalman filter formulation of simultaneous localisation and mapping (EKF-SLAM). We show that the algorithm produces very optimistic estimates once the "true" uncertainty in vehicle heading exceeds a limit. This failure is subtle and cannot, in general, be detected without ground-truth, although a very inconsistent filter may exhibit observable symptoms, such as disproportionately large jumps in the vehicle pose update. Conventional solutions… CONTINUE READING
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