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dc.contributor.authorVidal Calleja, Teresa
dc.contributor.authorBryson, Mitch
dc.contributor.authorSukkarieh, Salah
dc.contributor.authorSanfeliu Cortés, Alberto
dc.contributor.authorAndrade-Cetto, Juan
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.identifier.citationVidal-Calleja, Teresa; Bryson, Mitch; Sukkarieh, Salah; Sanfeliu, Alberto; Andrade-Cetto, Juan. "On the observability of bearing only SLAM". A: 2007 IEEE International Conference on Robotics and Automation (ICRA), Roma, Italia, 2007. IEEE, 2007, p. 4114-4119.
dc.description.abstractIn this paper we present an observability analysis for a mobile robot performing SLAM with a single monocular camera. The aim is to get a better understanding of the well known intuitive behavior of these systems, such as the need for triangulation to features from different positions in order to get accurate relative pose estimates. The characterization of the unobservable directions is made using the nullspace basis of the stripped observability matrix. This allow us to identify which vehicle motions are required to maximize the number of observable states in the system, which in turn affects accuracy in the estimation process. The analysis is performed by modeling the system in the continuous time domain as piecewise constant. Simulation results using an extended information filter are shown to verify the results of the observability analysis.
dc.format.extentp. 4114 - 4119
dc.relation.ispartofIEEE International Conference on Robotics and Automation (ICRA)
dc.subjectÀrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeo
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshComputer vision
dc.subject.otherbearing-only SLAM
dc.subject.othercontinuous time domain
dc.subject.othermobile robot
dc.subject.othermonocular camera
dc.subject.otherobservability analysis
dc.subject.otherstripped observability matrix
dc.subject.othervehicle motions
dc.titleOn the observability of bearing only SLAM
dc.typeConference report
dc.subject.lemacVisió per ordinador
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Pattern recognition::Computer vision
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.rights.accessOpen Access

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