An O(N²) Square Root Unscented Kalman Filter for Visual Simultaneous Localization and Mapping.
Steven A. HolmesGeorg KleinDavid William MurrayPublished in: IEEE Trans. Pattern Anal. Mach. Intell. (2009)
Keyphrases
- unscented kalman filter
- simultaneous localization and mapping
- extended kalman filter
- inertial sensors
- kalman filtering
- kalman filter
- state estimation
- position and orientation
- mobile robot
- dynamic model
- visual tracking
- constant velocity
- particle filter
- dynamic environments
- data association
- stereo camera
- mobile robotics
- indoor environments
- visual information
- sensor fusion
- robot navigation
- proposal distribution
- computer vision
- path planning
- three dimensional