Convergence comparison of least squares based bearing-only SLAM algorithms using different landmark parametrizations

This paper compares the convergence of least squares based 2D bearing-only SLAM algorithms using different landmark parametrizations. It is shown that the requirement on the accuracy of the initial value vary significantly when using different landmark parametrizations. Especially, for small scale bearing-only SLAM problems, the region of attraction of the global minimum for Gauss-Newton iteration based bearing-only SLAM algorithm using parallax angle landmark parametrization is significantly larger as compared with those of bearing-only SLAM algorithms using other landmark parametrizations. © 2012 IEEE