D. G. Arseniev, N. A. Berkovskii, "Bearing-Only Slam: A Fast Algorithm without using Extended Кalman Filter," WSEAS Transactions on Signal Processing, vol. 10, pp. 188-193, 2014, DOI:
D. G. Arseniev, N. A. Berkovskii. Bearing-Only Slam: A Fast Algorithm without using Extended Кalman Filter.
WSEAS Transactions on Signal Processing. 2014;10:188-193.
WSEAS Transactions on Signal Processing
Print ISSN: 1790-5052, E-ISSN: 2224-3488
Volume 10, 2014
Bearing-Only Slam: A Fast Algorithm without using Extended Кalman Filter
Authors: ,
Abstract: In this paper a new method for solving 2D Bearing-only SLAM is proposed. We use only Sequential Monte Carlo Methods to estimate current positions of the robot and for determining the landmarks’ coordinates. The main advantages of the proposed method are the high speed and the trivial generalization to 3D case. Our method has linear complexity growth with respect to number of the landmarks.
Keywords:
Bearing-only SLAM, Sequential Monte Carlo Methods, Patricle filters, Rao-Blackwellisation method, Fast SLAM
Pages: 188-193 WSEAS Transactions on Signal Processing, ISSN / E-ISSN: 1790-5052 / 2224-3488, Volume 10, 2014, Art. #19 DOI: *As the DOI is a unique identifier, it is already available in the pdf version.
**The DOI link will be activated in the first midst of January 2026.
×
Citation Tools