Date of Original Version



Conference Proceeding

Abstract or Description

We present a comparison of an extended Kalman filter and an adaptation of bundle adjustment from computer vision for mobile robot localization and mapping using a bearing-only sensor. We show results on synthetic and real examples and discuss some advantages and disadvantages of the techniques. The comparison leads to a novel combination of the two techniques which results in computational complexity near Kalman filters and performance near bundle adjustment on the examples shown.

Included in

Robotics Commons



Published In

Proceedings of the ISER '00 Seventh International Symposium on Experimental Robotics.