Observability-based Rules for Designing Consistent EKF SLAM Estimators.
Guoquan P. HuangAnastasios I. MourikisStergios I. RoumeliotisPublished in: Int. J. Robotics Res. (2010)
Keyphrases
- monocular slam
- simultaneous localization and mapping
- extended kalman filter
- particle filter
- mobile robot
- visual slam
- single camera
- kalman filter
- production rules
- association rules
- indoor environments
- visual odometry
- data association
- learning algorithm
- decision rules
- mobile robotics
- association rule mining
- computer simulation
- map building
- motion estimation
- computer vision