Depth enhanced visual-inertial odometry based on Multi-State Constraint Kalman Filter.
Fumin PangZichong ChenLi PuTianmiao WangPublished in: IROS (2017)
Keyphrases
- kalman filter
- state estimation
- kalman filtering
- object tracking
- particle filter
- target tracking
- update equations
- extended kalman filter
- motion parameters
- simultaneous localization and mapping
- inertial sensors
- bayesian filtering
- state space model
- state space
- rao blackwellized particle filter
- neural network
- image features
- data analysis
- multiscale
- computer vision
- machine learning