Parameterization and Initialization of Bearing-only Information - A Discussion

In this paper we discuss feature parameterization and initialization for bearing-only data obtained from vision sensors. The interest of this work refers to the comparison of the bearing-only data representation and initialization techniques. The behavior of the algorithm is analyzed for different robot motions and depth of the features. The results are evaluated in terms of the sensitivity to step size and the performance to ill conditioned situations. The problem studied refers to robots moving on the plane, sensing the environment and extracting bearing-only information from uncalibrated cameras to recover the position of the landmarks and its own localization.

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