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The Effect of Sensor Modality on Posterior Cramer-Rao Bounds for Simultaneous Localisation and Mapping

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dc.contributor.authorSelvaratnam, Daniel D.en
dc.contributor.authorShames, Imanen
dc.contributor.authorRistic, Brankoen
dc.contributor.authorManton, Jonathan H.en
dc.date.accessioned2025-05-23T22:23:30Z
dc.date.available2025-05-23T22:23:30Z
dc.date.issued2016en
dc.description.abstractThis paper applies Posterior Cramer-Rao Bound theory to the SLAM problem to measure the information supplied by different sensor modalities over time. Range-only, bearing-only and full range-bearing sensors were considered, as well as the gain in information achieved by using multiple sensors in centralized co-operative SLAM. An efficient recursive formula was used to compute the bound for a set of simulated scenarios, and its validity verified by comparing the bound with the second-order error performance of Fast SLAM 2.0 and the EKF.en
dc.description.sponsorship★★ This research is supported by DST Group under Collaborative ★ This research is supported by DST Group under Collaborative ReTsehairschresAeagrrcehemisenstusppMoYrtIePd b#y59D2S2T, MGYroIuPp #un5d92er3,Caonlldabboyrattihvee Research Agreements MYIP #5922, MYIP #5923, and by the DeesfeenacrcehScAiegnrceeemInesnttistuMteYaIsPan#i5n9i2ti2a,tivMeYoIfPth#e 5S9t2a3te, Ganodverbnymtehnet Defence Science Institute as an initiative of the State Government ofeVfeinccteorSiac.ience Institute as an initiative of the State Government of Victoria. of Victoria.en
dc.description.statusPeer-revieweden
dc.format.extent6en
dc.identifier.issn2405-8963en
dc.identifier.scopus84991111346en
dc.identifier.urihttp://www.scopus.com/inward/record.url?scp=84991111346&partnerID=8YFLogxKen
dc.identifier.urihttps://hdl.handle.net/1885/733753181
dc.language.isoenen
dc.rightsPublisher Copyright: © 2016en
dc.sourceIFAC-PapersOnLineen
dc.subjectBayesian boundsen
dc.subjectbearing-onlyen
dc.subjectcentralizeden
dc.subjectco-operativeen
dc.subjectCramer-Rao boundsen
dc.subjectestimation theoryen
dc.subjectfilteringen
dc.subjectlocalisationen
dc.subjectmap-buildingen
dc.subjectmulti-agenten
dc.subjectrange-onlyen
dc.subjectSLAMen
dc.titleThe Effect of Sensor Modality on Posterior Cramer-Rao Bounds for Simultaneous Localisation and Mappingen
dc.typeJournal articleen
dspace.entity.typePublicationen
local.bibliographicCitation.lastpage247en
local.bibliographicCitation.startpage242en
local.contributor.affiliationSelvaratnam, Daniel D.; Department of Electrical and Electronic Engineeringen
local.contributor.affiliationShames, Iman; Department of Electrical and Electronic Engineeringen
local.contributor.affiliationRistic, Branko; Royal Melbourne Institute of Technology Universityen
local.contributor.affiliationManton, Jonathan H.; Department of Electrical and Electronic Engineeringen
local.identifier.ariespublicationa383154xPUB20907en
local.identifier.citationvolume49en
local.identifier.doi10.1016/j.ifacol.2016.07.746en
local.identifier.pure368cf7f1-74ff-4b5c-967d-d31e32eeee21en
local.identifier.urlhttps://www.scopus.com/pages/publications/84991111346en
local.type.statusPublisheden

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