# An EKF-SLAM algorithm with consistency properties

arXiv: https://arxiv.org/abs/1510.06263 · HTML: https://mlsanity.com/paper/1510.06263/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Oct 2015.

## Built on by (most cited first, 2 of 2)

- [A Look at Improving Robustness in Visual-inertial SLAM by Moment Matching](https://mlsanity.com/paper/2205.13821/) (2022)
- [Improvement of Robot's Simultaneous Localization and Mapping Using an Effective Transformation to Achieve Linear Model](https://mlsanity.com/paper/2606.28475/) (2026)

## Abstract (arXiv)

In this paper we address the inconsistency of the EKF-based SLAM algorithm that stems from non-observability of the origin and orientation of the global reference frame. We prove on the non-linear two-dimensional problem with point landmarks observed that this type of inconsistency is remedied using the Invariant EKF, a recently introduced variant ot the EKF meant to account for the symmetries of the state space. Extensive Monte-Carlo runs illustrate the theoretical results.