A First-Estimates Jacobian EKF for Improving SLAM Consistency.

Guoquan P. Huang Anastasios I. Mourikis Stergios I. Roumeliotis

Published in: ISER (2008)

Keyphrases

simultaneous localization and mapping
monocular slam
extended kalman filter
kalman filter
visual slam
mobile robot
particle filter
single camera
data association
kalman filtering
dynamic environments
computer simulation
visual odometry
indoor environments
constraint networks
block diagonal
neural network