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Experimental comparison of techniques for localization and mapping using a bearing-only sensor.

Authors :
Thoma, M.
Morari, M.
Rus, Daniela
Singh, Sanjiv
Deans, Matthew
Hebert, Martial
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