Efficient method for simultaneous map building and localization

Uwe D. Hanebeck; Joachim Horn

doi:10.1117/12.421123

22 March 2001 Efficient method for simultaneous map building and localization

Uwe D. Hanebeck, Joachim Horn

Proceedings Volume 4385, Sensor Fusion: Architectures, Algorithms, and Applications V; (2001) https://doi.org/10.1117/12.421123
Event: Aerospace/Defense Sensing, Simulation, and Controls, 2001, Orlando, FL, United States

Abstract

We consider the problem of simultaneously locating an observer and a set of environmental landmarks with respect to an inertial coordinate system, when both the observer position and the landmark positions are initially uncertain. For solving this problem, a new state estimator is introduced, which allows the problem to be consistently solved locally.

Citation Download Citation

Uwe D. Hanebeck and Joachim Horn "Efficient method for simultaneous map building and localization", Proc. SPIE 4385, Sensor Fusion: Architectures, Algorithms, and Applications V, (22 March 2001); https://doi.org/10.1117/12.421123

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