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

: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.

• Type: Conference
• Year: 2000
• Where: ISER
• Authors: Matthew Deans, Martial Hebert
• Keywords: Bundle Adjustment, Extended Kalman Lter, ISER 2000, Kalman Lters, Robotics