An invariant-EKF VINS algorithm for improving consistency.
Kanzhi WuTeng ZhangDaobilige SuShoudong HuangGamini DissanayakePublished in: IROS (2017)
Keyphrases
- preprocessing
- kalman filter
- computational complexity
- dynamic programming
- significant improvement
- computationally efficient
- improved algorithm
- detection algorithm
- computational cost
- experimental evaluation
- np hard
- objective function
- learning algorithm
- k means
- search space
- target tracking
- kalman filtering
- convergence rate
- times faster
- path planning
- state estimation
- genetic algorithm
- extended kalman filter
- optimization algorithm
- segmentation algorithm
- simulated annealing
- high accuracy
- worst case
- probabilistic model
- cost function
- artificial neural networks
- lower bound
- bayesian networks
- image sequences