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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
Conference Name: 2012 IEEE International Conference on Robotics and Automation (14 May 2012 - 18 May 2012 : St Paul, MN)
Statement of
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
Appears in Collections:Aurora harvest 2
Computer Science publications

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