SOURCE-LINKED INTELLIGENCE
Range-Aided SLAM Initialization Exploiting Accurate Heading Information
This paper presents a novel initialization method for range-aided simultaneous localization and mapping (RA-SLAM). The general SLAM problem has a well-known separable structure where landmark and robot positions can be solved for in a linear fashion given known robot headings. This paper considers the case where highly accurate heading information is available, which is typical of autonomous underwater vehicle (AUV) navigation, to solve for the range transponder and robot positions. The proposed approach consists of two steps. First, using a generalized trust region subproblem (GTRS), the posi
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-21T16:24:26.000Z
First collected: 2026-09-23T06:11:12.848Z. This is not the publication date.