Undelayed Initialization of Inverse Depth Parameterized Landmarks in UKF-SLAM with Error State Formulation.

Nikolaus Ammann Laura Garcia Mayo

Published in: AIM (2018)

Keyphrases

state estimation
particle filter
error rate
unscented kalman filter
kalman filter
depth information
simultaneous localization and mapping
loop closing
mobile robot
vision system
point correspondences
monocular slam