Robot Localization from Landmarks using Recursive Total Least Squares - Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

In the robot navigation problem, noisy sensor data must be filtered to obtain the best estimate of the robot position. W e propose using a Recursive Total Least Squares algorithm t o obtain estimates of the robotposition. W e avoid several weaknesses inherent in the use of the Kalman and extended Ka lman filters, achieving much faster convergence without good initial (a priori) estimates of the position. The performance of the method is illustrated both by simulation and on a n actual mobile robot with a camera.