A comparison of maximum likelihood methods for appearance-based minimalistic SLAM

摘要

This paper compares the performances of several algorithms that address the problem of Simultaneous Localization and Mapping (SLAM) for the case of very small, resource-limited robots. These robots have poor odometry and can typically only carry a single monocular camera. These algorithms do not make the typical SLAM assumption that metric distance/bearing information to landmarks is available. Instead, the robot registers a distinctive sensor "signature", based on its current location, which is used to match robot positions. The performances of a physics-inspired maximum likelihood (ML) estimator, the iterated form of the Extended Kalman Filter (IEKF), and a batch-processed linearized ML estimator are compared under various odometric noise models.