Bearing-Only SLAM, or how to do SLAM without range
measurements.
Specially indicated for mono-vision equipped robots, or
to extend the range of stereo-vision equiped ones.
FIS-SLAM, or how to initialize partially observed
landmarks.
The Geometric Ray, or how to represent the PDF of a
partially
observed landmark in a minimal way to raise efficiency to optimal
limits.
This
paper presents FIS-SLAM, a new Bearing Only SLAM algorithm allowing
efficient initialization of landmarks that lie close to the axis of
travel of
the vehicle. UNDELAYED initialization is the key...
This
presentation I did at ICRA'05 SLAM workshop is a good insight to
the
Landmark Initialization problem in Bearing-Only SLAM, the Geometric
Ray, the
Delayed and Undelayed families of initialization methods, and some
efficient
realizations. It works best with MAC POWERPOINT. An abstract in Adobe
pdf is
also available here.
It relates to the previous
paper and to this
other one by Thomas
Lemaire.
Some simulation
videos
demonstrating the FIS-SLAM capabilities: Indoor,
Outdoor,
Straight.
Some real experiments: Indoor
circular, Outdoor
straight(.mov, .mp4), Indoor
quasi straight, Indoor
straight.