Accurate Initial State Estimation in a Monocular Visual-Inertial SLAM System.
Xufu MuJing ChenZixiang ZhouZhen LengLei FanPublished in: Sensors (2018)
Keyphrases
- state estimation
- kalman filter
- particle filter
- simultaneous localization and map building
- simultaneous localization and mapping
- kalman filtering
- visual odometry
- extended kalman filter
- visual slam
- particle filtering
- state space model
- visual tracking
- dynamic systems
- object tracking
- image sequences
- data association
- mobile robot
- visual features
- dynamic model
- inertial sensors
- high quality
- optical flow
- visual information
- pose estimation
- mean shift
- infrared
- estimation problems
- computationally efficient
- search space
- state space
- computer vision