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ICRA
2000
IEEE

Invariant Filtering for Simultaneous Localization and Mapping

10 years 2 months ago
Invariant Filtering for Simultaneous Localization and Mapping
This paper presents an algorithm for simultaneous localization and map building for a mobile robot moving in an unknown environment. The robot can measure only the bearings to identi able targets and its own relative motion. The approach is to recursively estimate features of the environment which are invariant to the robot pose in order to decouple the pose error from the map error. The highly nonlinear nature of this problem requires more explicit reasoning about the spatial relationships between landmarks and between the robot and landmarks than those used in previous methods.
Matthew Deans, Martial Hebert
Added 31 Jul 2010
Updated 31 Jul 2010
Type Conference
Year 2000
Where ICRA
Authors Matthew Deans, Martial Hebert
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