Invariant Kalman filter application to optical flow based visual odometry for UAVs.
James GoppertScott YantekInseok HwangPublished in: ICUFN (2017)
Keyphrases
- kalman filter
- visual odometry
- kalman filtering
- simultaneous localization and mapping
- optical flow
- extended kalman filter
- motion parameters
- state estimation
- particle filter
- ego motion
- particle filtering
- data association
- motion model
- object tracking
- computer vision
- mean shift
- multi frame
- autonomous navigation
- long range
- target tracking
- dynamic environments
- image segmentation