Dynamics-Based Modified Fast Simultaneous Localization and Mapping for Unmanned Aerial Vehicles With Joint Inertial Sensor Bias and Drift Estimation.
Nargess Sadeghzadeh NokhodberizAydin CanRustam StolkinAllahyar MontazeriPublished in: IEEE Access (2021)
Keyphrases
- extended kalman filter
- inertial sensors
- simultaneous localization and mapping
- unmanned aerial vehicles
- dynamic environments
- mobile robot
- monocular camera
- kalman filter
- path planning
- visual odometry
- estimation accuracy
- state estimation
- mobile robotics
- particle filter
- sensor fusion
- kalman filtering
- estimation process
- data association
- indoor environments
- human operators
- degrees of freedom
- motion sequences
- motion tracking
- motion planning
- computer vision