A Self-Supervised, Differentiable Kalman Filter for Uncertainty-Aware Visual-Inertial Odometry.
Brandon WagstaffEmmett WiseJonathan KellyPublished in: AIM (2022)
Keyphrases
- kalman filter
- kalman filtering
- inertial sensors
- simultaneous localization and mapping
- extended kalman filter
- particle filter
- object tracking
- bayesian filtering
- state estimation
- robust tracking
- state space model
- target tracking
- particle filtering
- mean shift
- sensor fusion
- objective function
- rao blackwellized particle filter
- reduced order model
- data sets
- robot navigation
- data association
- visual tracking
- nearest neighbor