A Unified Approach of Observability Analysis for Airborne SLAM
This addresses a gap in SLAM state estimation for robotics and autonomous systems, but appears incremental as it builds on existing observability analysis methods.
The paper tackles the problem of observability analysis in SLAM systems when dimensions and variables change due to new features, providing a unified approach to analyze local or total observability regardless of such changes.
Observability is a key aspect of the state estimation problem of SLAM, However, the dimension and variables of SLAM system might be changed with new features, to which little attention is paid in the previous work. In this paper, a unified approach of observability analysis for SLAM system is provided, whether the dimension and variables of SLAM system are changed or not, we can use this approach to analyze the local or total observability of the SLAM system.