Skip navigation
Skip navigation

Robocentric mapping and localization in modified spherical coordinates with bearing measurements

Boberg, Anders; Bishop, Adrian; Jensfelt, Patric


In this paper, a new approach to robotic mapping is presented that uses modified spherical coordinates in a robot-centered reference frame and a bearing-only measurement model. The algorithm provided in this paper permits robust delay-free state initialization and is computationally more efficient than the current standard in bearing-only (delay-free initialized) simultaneous localization and mapping (SLAM). Importantly, we provide a detailed nonlinear observability analysis which shows the...[Show more]

CollectionsANU Research Publications
Date published: 2009
Type: Conference paper
Source: Proceedings of International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP 2009)
DOI: 10.1109/ISSNIP.2009.5416769


File Description SizeFormat Image
01_Boberg_Robocentric_mapping_and_2009.pdf44.29 kBAdobe PDF    Request a copy
02_Boberg_Robocentric_mapping_and_2009.pdf392.86 kBAdobe PDF    Request a copy

Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  19 May 2020/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator