A unified framework for nearby and distant landmarks in bearing-only SLAM

Nikolas Trawny, Stergios I. Roumeliotis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages1923-1929
Number of pages7
DOIs
StatePublished - Dec 27 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

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