Title:
Linear 2D Localization and Mapping for Single and Multiple Robot Scenarios
Linear 2D Localization and Mapping for Single and Multiple Robot Scenarios
Author(s)
Dellaert, Frank
Stroupe, Ashley W.
Stroupe, Ashley W.
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Abstract
We show how to recover 2D structure and motion linearly
in order to initialize Simultaneous Mapping and Localization
(SLAM) for bearings-only measurements and planar motion.
The method supplies a good initial estimate of the geometry,
even without odometry or in multiple robot scenarios. Hence,
it substantially enlarges the scope in which non-linear batch-type
SLAM algorithms can be applied. The method is applicable
when at least seven landmarks are seen from three different
vantage points, whether by one robot that moves over time or
by multiple robots that observe a set of common landmarks.
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Date Issued
2002
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Text
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Paper