Feature Selection Criteria for Real Time EKF-SLAM Algorithm

摘要

This paper presents a seletion procedure for environmet features for the correction stage of a SLAM (Simultaneous Localization and Mapping) algorithm based on an Extended Kalman Filter (EKF). This approach decreases the computational time of the correction stage which allows for real and constant-time implementations of the SLAM. The selection procedure consists in chosing the features the SLAM system state covariance is more sensible to. The entire system is implemented on a mobile robot equipped with a range sensor laser. The features extracted from the environment correspond to lines and corners. Experimental results of the real time SLAM algorithm and an analysis of the processing-time consumed by the SLAM with the feature selection procedure proposed are shown. A comparison between the feature selection approach proposed and the classical sequential EKF-SLAM along with an entropy feature selection approach is also performed.