Divide and Conquer: EKF SLAM in O(n).
Lina María PazJuan D. TardósJosé NeiraPublished in: IEEE Trans. Robotics (2008)
Keyphrases
- monocular slam
- simultaneous localization and mapping
- extended kalman filter
- visual slam
- single camera
- mobile robot
- kalman filter
- particle filter
- data association
- mobile robotics
- bundle adjustment
- real time
- real time tracking
- dynamic environments
- indoor environments
- robot navigation
- visual odometry
- computer simulation
- loop closing
- multiple cameras
- appearance model
- multi view
- camera motion