Convergence comparison of least squares based bearing-only SLAM algorithms using different landmark parametrizations

Ahmad, A; Zhao, L; Huang, S; Dissanayake, G

Convergence comparison of least squares based bearing-only SLAM algorithms using different landmark parametrizations

Ahmad, A Zhao, L

Huang, S

Dissanayake, G

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Publication Type:: Conference Proceeding
Citation:: 2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012, 2012, pp. 1006 - 1011
Issue Date:: 2012-12-01

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Field	Value	Language
dc.contributor.author	Ahmad, A	en_US
dc.contributor.author	Zhao, L https://orcid.org/0000-0003-4063-8183	en_US
dc.contributor.author	Huang, S https://orcid.org/0000-0002-6124-4178	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2012-12-01	en_US
dc.identifier.citation	2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012, 2012, pp. 1006 - 1011	en_US
dc.identifier.isbn	9781467318716	en_US
dc.identifier.uri	http://hdl.handle.net/10453/22388
dc.description.abstract	This paper compares the convergence of least squares based 2D bearing-only SLAM algorithms using different landmark parametrizations. It is shown that the requirement on the accuracy of the initial value vary significantly when using different landmark parametrizations. Especially, for small scale bearing-only SLAM problems, the region of attraction of the global minimum for Gauss-Newton iteration based bearing-only SLAM algorithm using parallax angle landmark parametrization is significantly larger as compared with those of bearing-only SLAM algorithms using other landmark parametrizations. © 2012 IEEE.	en_US
dc.relation	http://purl.org/au-research/grants/arc/DP120102786
dc.relation	http://purl.org/au-research/grants/arc/LP0884112R2
dc.relation.ispartof	2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012	en_US
dc.relation.isbasedon	10.1109/ICARCV.2012.6485295	en_US
dc.title	Convergence comparison of least squares based bearing-only SLAM algorithms using different landmark parametrizations	en_US
dc.type	Conference Proceeding
utslib.for	091303 Autonomous Vehicles	en_US
dc.location.activity	Guangzhou, China	en_US
dc.location.activity	Guangzhou, PEOPLES R CHINA
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

This paper compares the convergence of least squares based 2D bearing-only SLAM algorithms using different landmark parametrizations. It is shown that the requirement on the accuracy of the initial value vary significantly when using different landmark parametrizations. Especially, for small scale bearing-only SLAM problems, the region of attraction of the global minimum for Gauss-Newton iteration based bearing-only SLAM algorithm using parallax angle landmark parametrization is significantly larger as compared with those of bearing-only SLAM algorithms using other landmark parametrizations. © 2012 IEEE.

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http://hdl.handle.net/10453/22388