Mobile robot localization by tracking geometric beacons

@article{Leonard1991MobileRL,
  title={Mobile robot localization by tracking geometric beacons},
  author={John J. Leonard and Hugh F. Durrant-Whyte},
  journal={IEEE Trans. Robotics Autom.},
  year={1991},
  volume={7},
  pages={376-382}
}
The application of the extended Kaman filter to the problem of mobile robot navigation in a known environment is presented. An algorithm for, model-based localization that relies on the concept of a geometric beacon, a naturally occurring environment feature that can be reliably observed in successive sensor measurements and can be accurately described in terms of a concise geometric parameterization, is developed. The algorithm is based on an extended Kalman filter that utilizes matches… 
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  • J. Leonard, H. Durrant-Whyte
  • Computer Science
    Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91
  • 1991
Discusses a significant open problem in mobile robotics: simultaneous map building and localization, which the authors define as long-term globally referenced position estimation without a priori
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