According to this graphical model for the SLAM problem,

m1 and m2 are independent given all states x = {x1, x2, ...}

What is the data association problem?

The robot makes observations and has to assign them to landmarks.

Which values of the initial covariance matrix in EKF SLAM are not zero?

All the diagonal elements excluding the first three.

Why is Rao-Blackwellization necessary for SLAM with a particle filter?

The number of particles grows exponentially with the state-space dimension.

What causes this checkerboard pattern in EKF SLAM?

All landmark and robot's x-positions are positively correlated. Same for y

SLAM is called a chicken-or-egg problem, since...

a map is needed for localization and localization is needed for mapping.

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SLAM with landmarks

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Answers

1
According to this graphical model for the SLAM problem,
zt-1 and zt are independent
m1 and m2 are independent
m1 and m2 are independent given all states x = {x1, x2, ...}
ut is dependent on xt
2
What is the data association problem?
The robot has a bad wifi connection and has to recover some data.
The robot receives a lot of data but does not know from which sensor.
The robot makes observations and has to assign them to landmarks.
3
What is the time complexity of FastSLAM 2.0 with tree data structure? (N: particles, M: landmarks)
O(M2)
O(N)
O(NM)
O(N log M)
4
Which values of the initial covariance matrix in EKF SLAM are not zero?
All the diagonal elements excluding the first three.
All the diagonal elements.
The first three of the diagonal elements
All the non-diagonal elements.
5
Why is Rao-Blackwellization necessary for SLAM with a particle filter?
It is impossible to represent the map with particles.
Real-world problems are non-linear.
It is impossible to model the landmark positions with EKF.
The number of particles grows exponentially with the state-space dimension.
6
What is the time complexity of FastSLAM 1.0? (N: particles, M: landmarks)
O(N log M)
O(M2)
O(N)
O(NM)
7
What causes this checkerboard pattern in EKF SLAM?
All landmark x-positions are correlated with their y-positions
The robot can sense and reconstruct the checker board the robot moves on.
All landmark and robot's x-positions are positively correlated. Same for y
The robot's x- and y-positions are correlated
8
What is the time complexity of EKF-SLAM with naive matrix inversion? (N: landmarks)
O(N)
O(1)
O(N3)
O(N2)
9
SLAM is called a chicken-or-egg problem, since...
chickens are dynamic obstacles, while eggs can be used as landmarks.
someone got creative finding a name for it.
localization should be first solved before solving mapping
a map is needed for localization and localization is needed for mapping.

SLAM with landmarks Flashcards | StudBud