PARAMETERIZATION AND INITIALIZATION OF BEARING-ONLY INFORMATION - A Discussion

R. Aragues; C. Sagues

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Paper

PARAMETERIZATION AND INITIALIZATION OF BEARING-ONLY INFORMATION - A Discussion

Topics: Autonomous Agents; Mobile Robots and Autonomous Systems; Vision, Recognition and Reconstruction

In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 252-261, 2008 , Funchal - Madeira, Portugal

Authors: R. Aragues and C. Sagues

Affiliation: DIIS - I3A, University of Zaragoza, Spain

Keyword(s): Bearing-only, Feature parameterization: cartesian and inverse-depth, Delayed/Undelayed initialization.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vision, Recognition and Reconstruction

Abstract: In this paper we discuss feature parameterization and initialization for bearing-only data obtained from vision sensors. The interest of this work refers to the comparison of the bearing-only data representation and initialization techniques. The behavior of the algorithm is analyzed for different robot motions and depth of the features. The results are evaluated in terms of the sensitivity to step size and performance to ill conditioned situations. The problem studied refers to robots moving on the plane, sensing the environment and extracting bearing-only information from uncalibrated cameras to recover the position of the landmarks and its own localization.

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Paper citation in several formats:

Aragues, R. and Sagues, C. (2008). PARAMETERIZATION AND INITIALIZATION OF BEARING-ONLY INFORMATION - A Discussion. In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8111-31-9; ISSN 2184-2809, SciTePress, pages 252-261. DOI: 10.5220/0001500002520261

@conference{icinco08,
author={R. Aragues. and C. Sagues.},
title={PARAMETERIZATION AND INITIALIZATION OF BEARING-ONLY INFORMATION - A Discussion},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2008},
pages={252-261},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001500002520261},
isbn={978-989-8111-31-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - PARAMETERIZATION AND INITIALIZATION OF BEARING-ONLY INFORMATION - A Discussion
SN - 978-989-8111-31-9
IS - 2184-2809
AU - Aragues, R.
AU - Sagues, C.
PY - 2008
SP - 252
EP - 261
DO - 10.5220/0001500002520261
PB - SciTePress