On the comparison of uncertainty criteria for active SLAM

Carrillo Lindado, Henry David
Castellanos Gómez, José Ángel (dir.)

Universidad de Zaragoza, EINA, 2011
Informática e Ingeniería de Sistemas department, Ingeniería de Sistemas y Automática area

Máster Universitario en Ingeniería de Sistemas e Informática

Abstract: In 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.

Free keyword(s): robotics ; slam ; mobile robot localization ; map building ; navigation ; exploration ; design of experiments

Tipo de Trabajo Académico: Trabajo Fin de Master