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]
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