Linear 2D Localization and Mapping for Single and Multiple Robots, Frank Dellaert and Ashley Stroupe, IEEE International Conference on Robotics and Automation (ICRA), 2002

We show how to recover 2D structure and motion linearly in order to initialize Simultaneous Mapping and Localization (SLAM) for bearings-only measurements and planar motion. The method supplies a good initial estimate of the geometry, even without odometry or in multiple robot scenarios. Hence, it substantially enlarges the scope in which non-linear batchtype SLAM algorithms can be applied. The method is applicable when at least seven landmarks are seen from three different vantage points, whether by one robot that moves over time or by multiple robots that observe a set of common landmarks.