A Unified Approach of Observability Analysis for Airborne SLAM

TL;DR

This paper introduces a unified method for analyzing the observability of SLAM systems that can adapt to changes in system variables and dimensions, enabling comprehensive assessment of local and total observability.

Contribution

It presents a novel, adaptable approach for observability analysis in SLAM systems, addressing limitations of previous methods that did not consider variable and dimension changes.

Findings

Applicable to systems with changing variables and dimensions

Enables analysis of local and total observability

Provides a comprehensive framework for SLAM observability

Abstract

Observability is a key aspect of the state estimation problem of SLAM, However, the dimension and variables of SLAM system might be changed with new features, to which little attention is paid in the previous work. In this paper, a unified approach of observability analysis for SLAM system is provided, whether the dimension and variables of SLAM system are changed or not, we can use this approach to analyze the local or total observability of the SLAM system.