Repositorio Zaguan - Universidad de Zaragoza 

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000006663 001__ 6663
000006663 037__ $$aTAZ-TFM-2011-102
000006663 041__ $$aeng
000006663 1001_ $$aCarrillo Lindado, Henry David
000006663 24500 $$aOn the comparison of uncertainty criteria for active SLAM
000006663 260__ $$aZaragoza$$bUniversidad de Zaragoza$$c2011
000006663 506__ $$aby-nc-sa$$bCreative Commons$$c3.0$$uhttp://creativecommons.org/licenses/by-nc-sa/3.0/
000006663 520__ $$aIn this report, 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 report shows that contrary to what has been previously reported in the literature, 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.
000006663 521__ $$aMáster en Ingeniería de Sistemas e Informática
000006663 540__ $$aDerechos regulados por licencia Creative Commons
000006663 6531_ $$arobotics
000006663 6531_ $$aslam
000006663 6531_ $$amobile robot localization
000006663 6531_ $$amap building
000006663 6531_ $$anavigation
000006663 6531_ $$aexploration
000006663 6531_ $$adesign of experiments
000006663 700__ $$aCastellanos Gómez, José Ángel$$edir.
000006663 7102_ $$aUniversidad de Zaragoza$$bInformática e Ingeniería de Sistemas$$cIngeniería de Sistemas y Automática
000006663 8560_ $$fhcarri@unizar.es
000006663 8564_ $$s3010857$$uhttp://zaguan.unizar.es/TAZ/EINA/2011/6663/TAZ-TFM-2011-102.pdf$$zMemoria (eng)
000006663 909CO $$ooai:zaguan.unizar.es:6663$$ppublic
000006663 909CO $$pTAZ
000006663 950__ $$a
000006663 980__ $$aTAZ$$bTFM$$cEINA
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