Invariant Observer-Based State Estimation for Micro-Aerial Vehicles in GPS-Denied Indoor Environments Using an RGB-D Camera and MEMS Inertial Sensors.
Dachuan LiQing LiLiang-wen TangSheng YangNong ChengJingyan SongPublished in: Micromachines (2015)
Keyphrases
- indoor environments
- state estimation
- inertial sensors
- extended kalman filter
- mobile robot
- simultaneous localization and mapping
- kalman filter
- path planning
- kalman filtering
- particle filter
- position and orientation
- robotic systems
- visual tracking
- particle filtering
- depth information
- computer vision
- multi sensor
- real time
- dynamic environments
- mobile robotics
- spatio temporal
- viewpoint