TY - GEN
T1 - Observability analysis of 2D geometric features using the condition number for SLAM applications
AU - Yeon, Suyong
AU - Doh, Nakju Lett
PY - 2013
Y1 - 2013
N2 - Observability analysis is a very powerful tool for discriminating whether a robot can estimate its own state. However, this method cannot investigate how much of the system is observable. This is a major problem from a state estimation perspective because there is too much noise in real environments. Therefore, although the system (or a mobile robot) is observable, it cannot estimate its own state. To address this problem, we propose an observability analysis method that uses the condition number. Mathematically, the condition number of matrix represents a degree of robustness to noise. We utilize this property of the condition number to investigate the degree of observability. In other words, the condition number of the observability matrix demonstrates the feasibility of state estimation and the robustness of its feasibility for estimation.
AB - Observability analysis is a very powerful tool for discriminating whether a robot can estimate its own state. However, this method cannot investigate how much of the system is observable. This is a major problem from a state estimation perspective because there is too much noise in real environments. Therefore, although the system (or a mobile robot) is observable, it cannot estimate its own state. To address this problem, we propose an observability analysis method that uses the condition number. Mathematically, the condition number of matrix represents a degree of robustness to noise. We utilize this property of the condition number to investigate the degree of observability. In other words, the condition number of the observability matrix demonstrates the feasibility of state estimation and the robustness of its feasibility for estimation.
KW - SLAM
KW - condition number
KW - localization
KW - observability analysis
KW - state estimation
UR - http://www.scopus.com/inward/record.url?scp=84893583024&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893583024&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2013.6704133
DO - 10.1109/ICCAS.2013.6704133
M3 - Conference contribution
AN - SCOPUS:84893583024
SN - 9788993215052
T3 - International Conference on Control, Automation and Systems
SP - 1540
EP - 1543
BT - ICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems
T2 - 2013 13th International Conference on Control, Automation and Systems, ICCAS 2013
Y2 - 20 October 2013 through 23 October 2013
ER -