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ICRA
2005
IEEE

A Proof for the Approximate Sparsity of SLAM Information Matrices

10 years 3 months ago
A Proof for the Approximate Sparsity of SLAM Information Matrices
— For the Simultaneous Localization and Mapping problem several efficient algorithms have been proposed that make use of a sparse information matrix representation (e.g. SEIF, TJTF, treemap). Since the exact SLAM information matrix is dense, these algorithm have to approximate it (sparsification). It has been empirically observed that this approximation is adequate because entries in the matrix corresponding to distant landmarks are extremely small. This paper provides a theoretical proof for this observation, specifically showing that the off-diagonal entries corresponding to two landmarks decay exponentially with the distance traveled between observation of first and second landmark.
Udo Frese
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Udo Frese
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