SLAM軌道評価の再考：確率的連続時間アプローチ
Rethinking Trajectory Evaluation for SLAM: a Probabilistic, Continuous-Time Approach
SLAMの軌道評価を確率的・連続時間の枠組みで定式化し、絶対誤差と相対誤差の理論的関連を明らかにするとともに、時間的対応付けを原理的に扱う手法を提案した。
著者: Zichao Zhang, Davide Scaramuzza
分類: cs.RO
原文アブストラクト
Despite the existence of different error metrics for trajectory evaluation in SLAM, their theoretical justifications and connections are rarely studied, and few methods handle temporal association properly. In this work, we propose to formulate the trajectory evaluation problem in a probabilistic, continuous-time framework. By modeling the groundtruth as random variables, the concepts of absolute and relative error are generalized to be likelihood. Moreover, the groundtruth is represented as a piecewise Gaussian Process in continuous-time. Within this framework, we are able to establish theoretical connections between relative and absolute error metrics and handle temporal association in a principled manner.
