CRB for pose tracking 2012-12-02

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 slidesbibtex

  • Source code: used the repository version of CSM.

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).

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