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Proceedings Paper

Efficient method for simultaneous map building and localization
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Paper 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.

Paper Details

Date Published: 22 March 2001
PDF: 11 pages
Proc. SPIE 4385, Sensor Fusion: Architectures, Algorithms, and Applications V, (22 March 2001); doi: 10.1117/12.421123
Show Author Affiliations
Uwe D. Hanebeck, Technische Univ. Muenchen (Germany)
Joachim Horn, Siemens AG (Germany)

Published in SPIE Proceedings Vol. 4385:
Sensor Fusion: Architectures, Algorithms, and Applications V
Belur V. Dasarathy, Editor(s)

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