Invariant EKF based 2D Active SLAM with Exploration Task.
Mengya XuYang SongYongbo ChenShoudong HuangQi HaoPublished in: ICRA (2021)
Keyphrases
- monocular slam
- simultaneous localization and mapping
- extended kalman filter
- single camera
- mobile robot
- visual slam
- particle filter
- kalman filter
- computer simulation
- dynamic environments
- mobile robotics
- indoor environments
- data association
- computer vision
- bundle adjustment
- kalman filtering
- moment invariants
- real time tracking
- visual odometry
- invariant features
- state estimation