PARAMETERIZATION AND INITIALIZATION OF BEARING-ONLY INFORMATION - A Discussion

R. Aragues, C. Sagues

Abstract

In this paper we discuss feature parameterization and initialization for bearing-only data obtained from vision sensors. The interest of this work refers to the comparison of the bearing-only data representation and initialization techniques. The behavior of the algorithm is analyzed for different robot motions and depth of the features. The results are evaluated in terms of the sensitivity to step size and performance to ill conditioned situations. The problem studied refers to robots moving on the plane, sensing the environment and extracting bearing-only information from uncalibrated cameras to recover the position of the landmarks and its own localization.

References

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Paper Citation


in Harvard Style

Aragues R. and Sagues C. (2008). PARAMETERIZATION AND INITIALIZATION OF BEARING-ONLY INFORMATION - A Discussion . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8111-31-9, pages 252-261. DOI: 10.5220/0001500002520261


in Bibtex Style

@conference{icinco08,
author={R. Aragues and C. Sagues},
title={PARAMETERIZATION AND INITIALIZATION OF BEARING-ONLY INFORMATION - A Discussion},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2008},
pages={252-261},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001500002520261},
isbn={978-989-8111-31-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - PARAMETERIZATION AND INITIALIZATION OF BEARING-ONLY INFORMATION - A Discussion
SN - 978-989-8111-31-9
AU - Aragues R.
AU - Sagues C.
PY - 2008
SP - 252
EP - 261
DO - 10.5220/0001500002520261