Sensor Localization by Few Distance Measurements via the Intersection of Implicit Manifolds
Michael M. Bilevich,Steven M. LaValle,Dan Halperin,Michael M. Bilevich,Steven M. LaValle,Dan Halperin
We present a general approach for determining the unknown (or uncertain) position and orientation of a sensor mounted on a robot in a known environment, using only a few distance measurements (between 2 to 6 typically), which is advantageous, among others, in sensor cost, and storage and information-communication resources. In-between the measurements, the robot can perform predetermined local mot...
