Recent Results in Extensions to Simultaneous Localization and Mapping

We report experimental results with bearings-only and range-only Simultaneous Localization and Mapping (SLAM). In the former case, we give the initial results from a new method that extends optimal shape-from-motion to incorporate angular rate and linear acceleration data. In the latter case, we have formulated a version of the SLAM problem that presumes a moving sensor able to measure only range to landmarks in the environment. Experimental results for both are presented.

[1]  John J. Leonard,et al.  A Computationally Efficient Method for Large-Scale Concurrent Mapping and Localization , 2000 .

[2]  Sanjiv Singh,et al.  Extending shape-from-motion to noncentral onmidirectional cameras , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[3]  Kenichi Kanatani,et al.  Do we really have to consider covariance matrices for image features? , 2001, Proceedings Eighth IEEE International Conference on Computer Vision. ICCV 2001.

[4]  Richard Szeliski,et al.  Recovering 3D shape and motion from image streams using nonlinear least squares , 1993, Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[5]  Sanjiv Singh,et al.  Preliminary results in range-only localization and mapping , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[6]  Martial Hebert,et al.  Experimental Comparison of Techniques for Localization and Mapping Using a Bearing-Only Sensor , 2000, ISER.

[7]  William H. Press,et al.  The Art of Scientific Computing Second Edition , 1998 .

[8]  David Ryan Koes,et al.  Precise omnidirectional camera calibration , 2001, Proceedings of the 2001 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. CVPR 2001.

[9]  Peter Cheeseman,et al.  On the Representation and Estimation of Spatial Uncertainty , 1986 .

[10]  F. A. Seiler,et al.  Numerical Recipes in C: The Art of Scientific Computing , 1989 .