Concurrent Initialization for Bearing-Only SLAM.docVIP

Sensors 2010, 10, 1511-1534; doi:10.3390/s100301511 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Concurrent Initialization for Bearing-Only SLAM Rodrigo Munguía and Antoni Grau * Automatic Control Department, Technical University of Catalonia, c/ Pau Gargallo, 5 E-08028 Barcelona, Spain; E-Mail: rodrigo.munguia@ * Author to whom correspondence should be addressed; E-Mail: antoni.grau@; Tel.: +34-93-401-6975; Fax: +34-93-401-7045. Received: 18 December 2009; in revised form: 15 February 2010 / Accepted: 24 February 2010 / Published: 1 March 2010 Abstract: Simultaneous Lo