On mobile robot localization from landmark bearings

Ilan Shimshoni

doi:10.1109/TRA.2002.805663

On mobile robot localization from landmark bearings

Research output: Contribution to journal › Article › peer-review

Abstract

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 language	English
Pages (from-to)	971-976
Number of pages	6
Journal	IEEE Transactions on Robotics and Automation
Volume	18
Issue number	6
DOIs	https://doi.org/10.1109/TRA.2002.805663
State	Published - Dec 2002
Externally published	Yes

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.

Keywords

Angle measurements
Landmarks
Robot localization

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/TRA.2002.805663

Cite this

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title = "On mobile robot localization from landmark bearings",

abstract = "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.",

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author = "Ilan Shimshoni",

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{\textquoteright} 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.",

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N2 - 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.

AB - 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.

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JF - IEEE Transactions on Robotics and Automation

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ER -

On mobile robot localization from landmark bearings

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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