Andrea Censi. On achievable accuracy for pose tracking. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Kobe, Japan, May 2009. pdfdoi supp. material slides

    @inproceedings{censi09posetracking,
        author = "Censi, Andrea",
        doi = "10.1109/ROBOT.2009.5152236",
        title = "On achievable accuracy for pose tracking",
        url = "http://purl.org/censi/2008/posetracking",
        booktitle = "Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})",
        year = "2009",
        month = "May",
        slides = "http://purl.org/censi/research/2009-icra-posetracking-slides.pdf",
        address = "Kobe, Japan",
        pdf = "http://purl.org/censi/research/2009-icra-posetracking.pdf",
        abstract = "This paper presents Cramer-Rao bound-like inequalities for pose tracking, which is defined as the problem of recovering the robot displacement given two successive readings of a relative sensor. Computing the exact Fisher Information Matrix (FIM) for pose tracking is hard, because the state comprises the map, which is infinite-dimensional and unknown. This paper shows that the FIM for pose tracking can be bounded by a function of the FIM for localization on a known map, thereby reducing the analysis to a finite-dimensional problem. The resulting bounds are independent of the map prior and representation. The results are valid for any relative sensor; the experimental verification is done for the particular case of pose tracking using range-finders (scan matching)."
    }
    

paper

slides