An Evaluation of the Performance of Various C-SLAM EKF Observation Configurations

Martin J. Eilders and James Cloutier

Abstract:	The performance of several different observation structures of an extended Kalman filter (EKF) designed for the purpose of cooperative simultaneous localization and mapping (C-SLAM) is analyzed. The observation structures consist of processing feature observations sequentially, processing multiple feature observations simultaneously, and processing both multiple feature and vehicle observations simultaneously. To evaluate filter performance, surveys of simulated features in an area are conducted using a single vehicle, three vehicles, and six vehicles. For each vehicular case, the survey is conducted multiple times using a different EKF observation configuration. Monte Carlo runs are used to evaluate the performance of the EKF in terms of the RMS error of the feature locations, the trace of the feature covariance matrix, and the vector-induced two-norm of the feature covariance matrix. The benefits of increasing the number of survey vehicles is assessed as well as the benefits of employing dual radar beams instead of one radar beam.
Published in:	Proceedings of the 2007 National Technical Meeting of The Institute of Navigation January 22 - 24, 2007 The Catamaran Resort Hotel San Diego, CA
Pages:	841 - 850
Cite this article:	Eilders, Martin J., Cloutier, James, "An Evaluation of the Performance of Various C-SLAM EKF Observation Configurations," Proceedings of the 2007 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 2007, pp. 841-850.
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