Bounding Uncertainty in EKF-SLAM: the Robocentric Local Approach.
Ruben Martinez-CantinJosé A. CastellanosPublished in: ICRA (2006)
Keyphrases
- simultaneous localization and mapping
- monocular slam
- extended kalman filter
- mobile robot
- visual slam
- single camera
- dynamic environments
- particle filter
- kalman filter
- upper bound
- indoor environments
- mobile robotics
- uncertain data
- computer simulation
- decision theory
- real time
- kalman filtering
- real time tracking
- visual odometry
- map building
- object recognition
- scene reconstruction
- bundle adjustment
- computer vision