Theory 032/Robotics & Autonomy

SLAM Drift Is Closure Density

The claim

Localisation drift is set by the density of loop closures rather than by sensor quality, so a good sensor without closures drifts more than a poor one with them.

01The mechanism

Drift accumulates between closures; closures bound it. The spacing sets the worst-case error regardless of per-step noise.

02Predictions

P1Drift should scale with closure spacing.
P2Improved sensors should not fix sparse closures.

03Refutation

Drift tracking sensor quality would remove the closure term.