On mobile robot localization from landmark bearings

Research output: Contribution to journalArticlepeer-review


This 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. Therefore, we transform the system to an equivalent linear system which yields virtually optimal results at a small fraction of the cost of a nonlinear 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)971-976
Number of pages6
JournalIEEE Transactions on Robotics and Automation
Issue number6
StatePublished - Dec 2002
Externally publishedYes

Bibliographical note

Funding Information:
Manuscript received January 16, 2001; revised December 16, 2001. This paper was recommended for publication by Associate Editor D. Pai and Editor S. Hutchinson upon evaluation of the reviewers’ comments. This work was supported in part by the Israeli Ministry of Science under Grant 9766 and Grant 2104. This paper was presented in part at the International Conference on Robotics and Automation, Seoul, Korea, May, 2001.


  • Angle measurements
  • Landmarks
  • Robot localization

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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