Invariant Kalman Filtering for Visual Inertial SLAM.
Martin BrossardSilvere BonnabelAxel BarrauPublished in: FUSION (2018)
Keyphrases
- kalman filtering
- kalman filter
- simultaneous localization and mapping
- extended kalman filter
- visual odometry
- particle filter
- state estimation
- video tracking
- measurement noise
- data association
- reduced order
- recursive filtering
- inertial sensors
- object tracking
- object and scene recognition
- particle filtering
- nonlocal means
- mobile robot
- viewpoint
- computational complexity
- closed form
- mean shift
- sparse representation
- image features
- spatio temporal