Robocentric mapping and localization in modified spherical coordinates with bearing measurements
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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]
Collections | ANU Research Publications |
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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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01_Boberg_Robocentric_mapping_and_2009.pdf | 44.29 kB | Adobe PDF | Request a copy | |
02_Boberg_Robocentric_mapping_and_2009.pdf | 392.86 kB | Adobe PDF | Request a copy |
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