An EKF-SLAM algorithm with consistency properties

TL;DR

This paper addresses the inconsistency issues in EKF-SLAM caused by unobservable global frame parameters and demonstrates that the Invariant EKF can effectively restore consistency, supported by theoretical proofs and Monte Carlo simulations.

Contribution

It introduces the use of the Invariant EKF to improve the consistency of EKF-SLAM by accounting for state space symmetries, a novel approach in this context.

Findings

Invariant EKF restores consistency in EKF-SLAM

Theoretical proof of improved observability

Monte Carlo simulations validate results

Abstract

In this paper we address the inconsistency of the EKF-based SLAM algorithm that stems from non-observability of the origin and orientation of the global reference frame. We prove on the non-linear two-dimensional problem with point landmarks observed that this type of inconsistency is remedied using the Invariant EKF, a recently introduced variant ot the EKF meant to account for the symmetries of the state space. Extensive Monte-Carlo runs illustrate the theoretical results.