Undelayed Initialization in Bearing Only SLAM - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2005

Undelayed Initialization in Bearing Only SLAM

Joan Solà
  • Fonction : Auteur
  • PersonId : 863558
André Monin
  • Fonction : Auteur
  • PersonId : 840750
Michel Devy
  • Fonction : Auteur
  • PersonId : 861966
  • IdRef : 058414177

Résumé

Most solutions to the SLAM problem in robotics have utilized Range and Bearing sensors as the provided perception data is easy to incorporate, allowing immediate landmark initialization. This is not the case when using Bearing-Only information because the distance to the perceived landmarks is not directly provided. A whole estimate of a landmark position will only be possible via a set of measurements taken from different points of view. The vast majority of contributions to this problem utilize a parallel task to get this estimate, and hence the landmark initialization is delayed. We give a new insight to the problem and present a method to avoid this delay by initializing the whole ray that defines the direction of the landmark. We utilize a minimal and computationally efficient form to represent this ray and a new strategy for the subsequent updates. Simulations have been carried out to validate the proposed algorithms.
Fichier principal
Vignette du fichier
IROS2005_undelayedBOSLAM.pdf (247.27 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01137845 , version 1 (31-03-2015)

Identifiants

Citer

Joan Solà, André Monin, Michel Devy, Thomas Lemaire. Undelayed Initialization in Bearing Only SLAM. International Conference on Intelligent Robots and Open Systems, IEEE/RSJ, Aug 2005, Edmonton, Alberta, Canada. pp.2499 - 2504, ⟨10.1109/IROS.2005.1545392⟩. ⟨hal-01137845⟩
210 Consultations
606 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More