Bearing only SLAM: a new particle filter based approach

Authors:
Mohammad Hossein Mirabdollah;Baerbel Mertsching
Affiliations:
GET Lab, University of Paderborn, Paderborn, Germany;GET Lab, University of Paderborn, Paderborn, Germany
Venue:
AIS'12 Proceedings of the Third international conference on Autonomous and Intelligent Systems
Year:
2012

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Abstract

In this paper a new method to address bearing-only SLAM using particle filters is proposed. We use a set of line pieces to model the uncertainties of landmarks and derive a proper formulation to modify the joint robot and landmark assumptions in the context of a particle filter approach.