Invariant filtering for simultaneous localization and mapping
- 7 November 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1042-1047
- https://doi.org/10.1109/robot.2000.844737
Abstract
This paper presents an algorithm for simultaneous localizationand map building for a mobile robot movingin an unknown environment. The robot can measureonly the bearings to identifiable targets and its own relativemotion. The approach is to recursively estimatefeatures of the environment which are invariant to therobot pose in order to decouple the pose error from themap error. The highly nonlinear nature of this problemrequires more explicit reasoning about the spatialrelationships...Keywords
This publication has 1 reference indexed in Scilit:
- Adaptive Mobile Robot Navigation and MappingThe International Journal of Robotics Research, 1999