SLAM With Joint Sensor Bias Estimation: Closed Form Solutions on Observability, Error Bounds and Convergence Rates.
L. D. Lochana PereraW. Sardha WijesomaMartin David AdamsPublished in: IEEE Trans. Control. Syst. Technol. (2010)
Keyphrases
- particle filter
- error bounds
- closed form solutions
- convergence rate
- closed form
- simultaneous localization and mapping
- theoretical analysis
- managerial insights
- constrained optimization
- special case
- point correspondences
- learning rate
- numerical stability
- worst case
- viewpoint
- object recognition
- gaussian kernels
- three dimensional
- range images
- camera pose
- parameter estimates