An Efficient Method for Simultaneous Map Building and Localization
Abstract:
We consider the problem of simultaneously locating an observer and a set of environmental landmarks with respect to an inertial coordinate system, when both the observer position and the landmark positions are initially uncertain. For solving this problem, a new state estimator is introduced, which allows the problem to be consistently solved locally.
| Zugehörige Institution(en) am KIT | Institut für Anthropomatik und Robotik (IAR) |
| Publikationstyp | Proceedingsbeitrag |
| Publikationsjahr | 2001 |
| Sprache | Englisch |
| Identifikator | ISSN: 0277-786X KITopen-ID: 1000123151 |
| Erschienen in | Proc. SPIE 4385, Sensor Fusion: Architectures, Algorithms, and Applications V |
| Veranstaltung | AeroSense Conference/Symposium (AeroSense 2001), Orlando, FL, USA, 19.04.2001 |
| Verlag | Society of Photo-optical Instrumentation Engineers (SPIE) |
| Seiten | 233-243 |
| Serie | Proceedings of SPIE ; 4385 |
| Nachgewiesen in | Scopus Dimensions OpenAlex |
| Globale Ziele für nachhaltige Entwicklung |