TY - GEN
T1 - A unified framework for nearby and distant landmarks in bearing-only SLAM
AU - Trawny, Nikolas
AU - Roumeliotis, Stergios I.
PY - 2006/12/27
Y1 - 2006/12/27
N2 - Bearing-Only SLAM describes the process of simultaneously localizing a mobile robot while building a map of the unknown surroundings, using bearing measurements to landmarks as the only available exteroceptive sensor information. Commonly, the position of map features is estimated along with the robot pose. However, consistent initialization of these positions is a difficult problem in Bearing-Only SLAM, in particular for distant landmarks. In previous approaches, measurements to remote landmarks often had to be discarded, thus losing valuable orientation information. In this paper, we present for the first time a unifying framework allowing for non-delayed initialization of both nearby and distant features. This is made possible by a four-element landmark parametrization, combined with a constraint-based inferred measurement.
AB - Bearing-Only SLAM describes the process of simultaneously localizing a mobile robot while building a map of the unknown surroundings, using bearing measurements to landmarks as the only available exteroceptive sensor information. Commonly, the position of map features is estimated along with the robot pose. However, consistent initialization of these positions is a difficult problem in Bearing-Only SLAM, in particular for distant landmarks. In previous approaches, measurements to remote landmarks often had to be discarded, thus losing valuable orientation information. In this paper, we present for the first time a unifying framework allowing for non-delayed initialization of both nearby and distant features. This is made possible by a four-element landmark parametrization, combined with a constraint-based inferred measurement.
UR - http://www.scopus.com/inward/record.url?scp=33845632905&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845632905&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1641987
DO - 10.1109/ROBOT.2006.1641987
M3 - Conference contribution
AN - SCOPUS:33845632905
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1923
EP - 1929
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -