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14

ISER
2000
Springer

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Experimental Comparison of Techniques for Localization and Mapping Using a Bearing-Only Sensor

13 years 8 months ago

Experimental Comparison of Techniques for Localization and Mapping Using a Bearing-Only Sensor

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:We present a comparison of an extended Kalman lter and an adaptation of bundle adjustment from computer vision for mobile robot localization and mapping using a bearing-only sensor. We show results on synthetic and real examples and discuss some advantages and disadvantages of the techniques. The comparison leads to a novel combination of the two techniques which results in computational complexity near Kalman lters and performance near bundle adjustment on the examples shown.

Matthew Deans, Martial Hebert

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Bundle Adjustment | Extended Kalman Lter | ISER 2000 | Kalman Lters | Robotics |

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Added	25 Aug 2010
Updated	25 Aug 2010
Type	Conference
Year	2000
Where	ISER
Authors	Matthew Deans, Martial Hebert

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