An Improved Multi-State Constraint Kalman Filter for Visual-Inertial Odometry.
M. R. AbdollahiSeid H. PourtakdoustM. H. Yoosefian NooshabadiH. N. PishkenariPublished in: CoRR (2022)
Keyphrases
- kalman filter
- state estimation
- kalman filtering
- extended kalman filter
- inertial sensors
- object tracking
- particle filter
- state space model
- data association
- robust tracking
- target tracking
- simultaneous localization and mapping
- update equations
- bayesian filtering
- mean shift
- rao blackwellized particle filter
- reduced order model
- learning algorithm
- particle filtering
- sparse representation
- image retrieval
- object recognition