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Robocentric mapping and localization in modified spherical coordinates with bearing measurements

Boberg, Anders; Bishop, Adrian; Jensfelt, Patric

Description

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
URI: http://hdl.handle.net/1885/84255
Source: Proceedings of International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP 2009)
DOI: 10.1109/ISSNIP.2009.5416769

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