The Effect of Sensor Modality on Posterior Cramer-Rao Bounds for Simultaneous Localisation and Mapping
| dc.contributor.author | Selvaratnam, Daniel D. | en |
| dc.contributor.author | Shames, Iman | en |
| dc.contributor.author | Ristic, Branko | en |
| dc.contributor.author | Manton, Jonathan H. | en |
| dc.date.accessioned | 2025-05-23T22:23:30Z | |
| dc.date.available | 2025-05-23T22:23:30Z | |
| dc.date.issued | 2016 | en |
| dc.description.abstract | This 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.status | Peer-reviewed | en |
| dc.format.extent | 6 | en |
| dc.identifier.issn | 2405-8963 | en |
| dc.identifier.scopus | 84991111346 | en |
| dc.identifier.uri | http://www.scopus.com/inward/record.url?scp=84991111346&partnerID=8YFLogxK | en |
| dc.identifier.uri | https://hdl.handle.net/1885/733753181 | |
| dc.language.iso | en | en |
| dc.rights | Publisher Copyright: © 2016 | en |
| dc.source | IFAC-PapersOnLine | en |
| dc.subject | Bayesian bounds | en |
| dc.subject | bearing-only | en |
| dc.subject | centralized | en |
| dc.subject | co-operative | en |
| dc.subject | Cramer-Rao bounds | en |
| dc.subject | estimation theory | en |
| dc.subject | filtering | en |
| dc.subject | localisation | en |
| dc.subject | map-building | en |
| dc.subject | multi-agent | en |
| dc.subject | range-only | en |
| dc.subject | SLAM | en |
| dc.title | The Effect of Sensor Modality on Posterior Cramer-Rao Bounds for Simultaneous Localisation and Mapping | en |
| dc.type | Journal article | en |
| dspace.entity.type | Publication | en |
| local.bibliographicCitation.lastpage | 247 | en |
| local.bibliographicCitation.startpage | 242 | en |
| local.contributor.affiliation | Selvaratnam, Daniel D.; Department of Electrical and Electronic Engineering | en |
| local.contributor.affiliation | Shames, Iman; Department of Electrical and Electronic Engineering | en |
| local.contributor.affiliation | Ristic, Branko; Royal Melbourne Institute of Technology University | en |
| local.contributor.affiliation | Manton, Jonathan H.; Department of Electrical and Electronic Engineering | en |
| local.identifier.ariespublication | a383154xPUB20907 | en |
| local.identifier.citationvolume | 49 | en |
| local.identifier.doi | 10.1016/j.ifacol.2016.07.746 | en |
| local.identifier.pure | 368cf7f1-74ff-4b5c-967d-d31e32eeee21 | en |
| local.identifier.url | https://www.scopus.com/pages/publications/84991111346 | en |
| local.type.status | Published | en |