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We present a comparative study of the performance of map-based robot localisation processes based on diverse sensing devices such as monocular and trinocular vision systems and laser rangefinders. We study both the precision (error with respect to the true values) and robustness (sensor measurements correctly paired with map features) of each localisation process. The experiment design we used allows one to compare these processes under exactly the same conditions. We conclude that comparable precision levels can be attained with each of the three sensors. With respect to robustness, monocular and trinocular vision pose more complex matching problems than laser, requiring more elaborate solutions to make the process robust.
Pérez et al. (Mon,) studied this question.