Please use this identifier to cite or link to this item:
https://hdl.handle.net/2440/87252
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Type: | Conference paper |
Title: | On the comparison of uncertainty criteria for active SLAM |
Author: | Carrillo, H. Reid, I. Castellanos, J. |
Citation: | IEEE International Conference on Robotics and Automation, 2012, pp.2080-2087 |
Publisher: | IEEE |
Publisher Place: | USA |
Issue Date: | 2012 |
Series/Report no.: | IEEE International Conference on Robotics and Automation ICRA |
ISBN: | 9781467314039 |
ISSN: | 1050-4729 2577-087X |
Conference Name: | 2012 IEEE International Conference on Robotics and Automation (14 May 2012 - 18 May 2012 : St Paul, MN) |
Statement of Responsibility: | Henry Carrillo, Ian Reid and José A. Castellanos |
Abstract: | In this paper, we consider the computation of the D-optimality criterion as a metric for the uncertainty of a SLAM system. Properties regarding the use of this uncertainty criterion in the active SLAM context are highlighted, and comparisons against the A-optimality criterion and entropy are presented. This paper shows that contrary to what has been previously reported, the D-optimality criterion is indeed capable of giving fruitful information as a metric for the uncertainty of a robot performing SLAM. Finally, through various experiments with simulated and real robots, we support our claims and show that the use of D-opt has desirable effects in various SLAM related tasks such as active mapping and exploration. |
Rights: | ©2012 IEEE |
DOI: | 10.1109/ICRA.2012.6224890 |
Published version: | http://dx.doi.org/10.1109/icra.2012.6224890 |
Appears in Collections: | Aurora harvest 2 Computer Science publications |
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RA_hdl_87252.pdf Restricted Access | Restricted Access | 820.63 kB | Adobe PDF | View/Open |
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