Improving the Consistency of Relative Map

Abstract— In this paper, the Independence Relative Map algorithm is presented. The algorithm aims to achieve the independence of relative map states. We show that using dependent relative quantities from the same observation creates a bias to the state covariance matrix, leading to an inaccurate and inconsistent relative map. Having independent map states improves the map consistency. Two case studies are presented in which we apply the proposed algorithm together with two popular relative map methods. Experimental results on simulated data show that the integrated algorithms outperform the original methods in term of map consistency and algorithm speed.

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Viet Nguyen, Agostino Martinelli, Roland Siegwart
• Keywords: IROS 2006, Relative Map, Relative Map Algorithm, Relative Map States, Robotics