Young Hoon Lee, ChangHyun Jun, Hyunga Choi, Soo-Hyun Ryu, N. Doh
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引用次数: 5
Abstract
Analysis on causes of inconsistency of Extended Kalman Filter (EKF) Simultaneous Localization And Mapping (SLAM) is mentioned in this paper. The effect of noise models and observation models on the inconsistent behavior of EKF SLAM was examined. In addition, the effect of registration of the false landmarks on inconsistent behavior of the EKF SLAM is mentioned in this paper. This paper identifies several causes of inconsistency of EKF SLAM by observability analysis.
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