Invariant filtering for Pose EKF-SLAM aided by an IMU.
Axel BarrauSilvere BonnabelPublished in: CDC (2015)
Keyphrases
- simultaneous localization and mapping
- monocular slam
- relative pose
- visual odometry
- extended kalman filter
- visual slam
- mobile robot
- loop closure
- kalman filter
- single camera
- pose estimation
- inertial measurement unit
- unscented kalman filter
- planar objects
- indoor environments
- monocular camera
- d objects
- pose and lighting
- mobile robotics
- kalman filtering
- dynamic environments
- particle filter
- object pose
- bundle adjustment
- affine transformation
- real time
- robot navigation
- computer simulation
- scene structure
- articulated objects
- camera pose