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

Daniel D. Selvaratnam; Iman Shames; Branko Ristic; Jonathan H. Manton

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

机译：传感器形态对后部Cramer-Rao边界同时定位和制图的影响

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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.

机译：本文将后验Cramer-Rao束缚理论应用于SLAM问题，以测量随时间变化的不同传感器模式提供的信息。考虑了仅范围传感器，仅轴承传感器和全范围轴承传感器，以及在集中式协作式SLAM中使用多个传感器获得的信息增益。一个有效的递归公式用于计算一组模拟方案的边界，并通过将边界与Fast SLAM 2.0和EKF的二阶错误性能进行比较来验证其有效性。

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《IFAC PapersOnLine》 |2016年第15期|共6页
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Daniel D. Selvaratnam; Iman Shames; Branko Ristic; Jonathan H. Manton;
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中图分类自动化技术、计算机技术;
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1. The Effect of Sensor Modality on Posterior Cramer-Rao Bounds for Simultaneous Localisation and Mapping [J] . Daniel D. Selvaratnam, Iman Shames, Branko Ristic, IFAC PapersOnLine . 2016,第15期

机译：传感器形态对后部Cramer-Rao边界同时定位和制图的影响
2. Consensus-based distributed dynamic sensor selection in decentralised sensor networks using the posterior Cramer-Rao lower bound [J] . Arash Mohammadi, Amir Asif Signal processing . 2015,第mara期

机译：使用后验Cramer-Rao下界的分散传感器网络中基于共识的分布式动态传感器选择
3. Posterior Cramer-Rao Bound for Inertial Sensors Enhanced Mobile Positioning Under The Random Walk Motion Model [J] . He Ziming, Ma Yi, Tafazolli Rahim Wireless Communications Letters, IEEE . 2012,第6期

机译：惯性传感器的后部Cramer-Rao界在随机行走运动模型下增强了移动定位
4. The Effect of Sensor Modality on Posterior Cramer-Rao Bounds for Simultaneous Localisation and Mapping [C] . Daniel D. Selvaratnam, Iman Shames, Branko Ristic, IFAC Symposium on Intelligent Autonomous Vehicles . 2016

机译：传感器模态对后克拉的界面同时定位和映射的影响
5. Conditional Posterior Cramer-Rao Lower Bound and Distributed Target Tracking in Sensor Networks. [D] . Zuo, Long. 2011

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6. Cramer-Rao Lower Bound Evaluation for Linear Frequency Modulation Based Active Radar Networks Operating in a Rice Fading Environment [O] . Chenguang Shi, Sana Salous, Fei Wang, 2016

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7. Optimal sensors deployment for tracking level curve based on posterior Cramer-Rao lower bound in scalar field [O] . Zhao WT(赵文涛), Yu JC(俞建成), Zhang AQ(张艾群), 2014

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

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