A sensor-centric EKF for inertial-aided visual odometry.
Markus KleinertUwe StillaPublished in: IPIN (2013)
Keyphrases
- visual odometry
- extended kalman filter
- inertial sensors
- kalman filter
- kalman filtering
- inertial measurement unit
- simultaneous localization and mapping
- state estimation
- autonomous navigation
- estimation accuracy
- long range
- target tracking
- sensor data
- mobile robot
- particle filter
- computer simulation
- ego motion
- back propagation
- training algorithm
- sensor fusion
- sensor networks
- estimation process
- depth images
- real time
- mobile robotics
- indoor environments
- object tracking
- field of view
- multi sensor
- data association