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

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 1923-1929

  Trawny, Nikolas ^a   Roumeliotis, Stergios I ^a  

^a University of Minnesota   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONSTRAINT-BASED INFERRED MEASUREMENT; LANDMARK PARAMETRIZATION; SENSOR INFORMATION;

CONSTRAINT THEORY; INFORMATION ANALYSIS; PARAMETER ESTIMATION; PROBLEM SOLVING; SENSOR DATA FUSION;

MOBILE ROBOTS;

EID: 33845632905     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1641987     Document Type: Conference Paper

References (11)

1. M. Deans and M. Hebert, "Experimental comparison of techniques for localization and mapping using a bearing-only sensor," in Proc. of International Symposium On Experimental Robotics, Dec. 2000.
2. T. Bailey, "Constrained initialisation for bearing-only SLAM," in Proc. of IEEE International Conference on Robotics and Automation (ICRA), vol. 2, Sept. 2003, pp. 1966-1971.
3. A. Davison, "Real-time simultaneous localisation and mapping with a single camera," in Proc. of Ninth IEEE International Conference on Computer Vision, vol. 2, Oct. 2003, pp. 1403-1410.
4. N. Kwok and G. Dissanayake, "An efficient multiple hypothesis filter for bearing-only SLAM," in Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. 1, 2004, pp. 736-741.
5. J. Solà, A. Monin, M. Devy, and T. Lemaire, "Undelayed initialization in bearing only SLAM," in Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Aug. 2005, pp. 2751-2756.
6. J. L. Crassidis, R. Alonso, and J. L. Junkins, "Optimal attitude and position determination from line-of-sight measurements," The Journal of the Astronautical Sciences, vol. 48, no. 2-3, pp. 391-408, 2000.
7. J. R. Wertz, Ed., Spacecraft Attitude Determination and Control. Dordrecht; Boston: Kluwer Academic, 1978.
8. A. Costa, G. Kantor, and H. Choset, "Bearing-only landmark initialization with unknown data association," in Proc. of IEEE International Conference on Robotics and Automation (ICRA), 2004, pp. 1764-1770.
9. N. Trawny, "Bearing-only SLAM without explicit landmark position initialization," University of Minnesota, Dept. of Comp. Sci. & Eng., Tech. Rep. 2005-003, Aug. 2005.
10. P. S. Maybeck, Stochastic Models, Estimation and Control. New York: Academic Press, 1979, vol. 1.
11. S. Julier, J. Uhlmann, and H. Durrant-Whyte, "A new method for the nonlinear transformation of means and covariances in filters and estimators," IEEE Transactions on Automatic Control, vol. 45, no. 3, pp. 477-482, 2000.