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Optimal-State-Constraint EKF for Visual-Inertial Navigation.
Guoquan Huang
Kevin Eckenhoff
John J. Leonard
Published in:
ISRR (1) (2015)
Keyphrases
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inertial navigation
optimal solution
dynamic programming
high level
visual features
visual information
initially unknown
image data
state space
computer simulation
closed form
optimal strategy