A Square Root Unscented Kalman Filter for visual monoSLAM.
Steven A. HolmesGeorg KleinDavid William MurrayPublished in: ICRA (2008)
Keyphrases
- square root
- unscented kalman filter
- kalman filtering
- kalman filter
- extended kalman filter
- simultaneous localization and mapping
- state estimation
- inertial sensors
- floating point
- position and orientation
- dynamic model
- visual information
- euclidean space
- arrival rate
- probability density function
- visual tracking
- constant velocity
- feature selection
- particle filter
- mobile robot
- indoor environments
- multi frame
- dynamic environments
- three dimensional