Active online visual-inertial navigation and sensor calibration via belief space planning and factor graph based incremental smoothing.
Yair Ben ElishaVadim IndelmanPublished in: IROS (2017)
Keyphrases
- belief space
- inertial navigation
- planning tasks
- belief state
- motion planning
- planning under uncertainty
- state space
- dynamic environments
- initial state
- partially observable markov decision processes
- inertial sensors
- partially observable
- visual information
- markov decision processes
- classical planning
- action sequences
- planning process
- search algorithm
- dynamical systems
- visual features
- sensor networks
- machine learning
- decision theoretic
- belief revision
- domain independent
- planning graph
- heuristic search
- np hard