The more the better? A discussion about line features for self-localization


The paper deals with the role of line features in mobile robot self-localization, when an extended Kalman filter is adopted for position tracking. First, a theoretical analysis is introduced, showing how the "length" of each extracted line (i.e., the number of the contributing range measurements) affects the localization accuracy. Second, a novel approach… (More)
DOI: 10.1109/IROS.2007.4399346


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