On mobile robot localization from landmark bearings

Research output: Contribution to journalConference articlepeer-review


The paper deals with the problem of robot localization from noisy landmark bearings measured by the robot. We present a new localization method which is based on linear constraints, one due to each bearing measurement. This linear system can be solved at low computational cost but yields not very accurate results. We therefore transform the system to an equivalent linear system which yields virtually optimal results at a small fraction of the cost of a non-linear optimization method which usually achieves the optimal result. Experimental results showing the quality of the results and the low computational cost are presented.

Original languageEnglish
Pages (from-to)3605-3611
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 2001
Externally publishedYes
Event2001 IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: 21 May 200126 May 2001

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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