Experimental Comparison of Techniques for Localization and Mapping Using A Bearing-Only Sensor

We present a comparison of an extended Kalman filter and an adaptation of bundle adjustment from computer vision for mobile robot localization and mapping using a bearing-only sensor. We show results on synthetic and real examples and discuss some advantages and disadvantages of the techniques. The comparison leads to a novel combination of the two techniques which results in computational complexity near Kalman filters and performance near bundle adjustment on the examples shown.