Bearing only mobile robots' localization: Observability and formulation using SIS particle filters

In this paper the localization problem of mobile robots using bearing only measurement which is mostly used for mono vision robot, is investigated. Firstly the observability of the problem is discussed and then the position estimation of the robot using SIS particle filter is formulated. The performance of this method is discussed in comparison to the case that only range measurement is used and the case that both measurements are utilized.