On the consistency of EKF-SLAM: Focusing on the observation models.
Amir Hossein TamjidiHamid D. TaghiradAli Akbar AghamohammadiPublished in: IROS (2009)
Keyphrases
- monocular slam
- simultaneous localization and mapping
- extended kalman filter
- visual slam
- mobile robot
- single camera
- particle filter
- kalman filter
- dynamic environments
- indoor environments
- data association
- mobile robotics
- bundle adjustment
- real time tracking
- consistency checking
- global consistency
- kalman filtering
- loop closing
- path consistency
- visual odometry
- real time
- computer simulation
- proposal distribution
- robot navigation
- field of view