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Experimental comparison of techniques for localization and mapping using a bearing-only sensor.
- Source :
- Experimental Robotics VII; 2001, p395-404, 10p
- Publication Year :
- 2001
-
Abstract
- We present a comparison of an extended Kalman filter 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 filters and performance near bundle adjustment on the examples shown. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISBNs :
- 9783540421047
- Database :
- Supplemental Index
- Journal :
- Experimental Robotics VII
- Publication Type :
- Book
- Accession number :
- 33151076
- Full Text :
- https://doi.org/10.1007/3-540-45118-8_40