CROSS-COVARIANCE ESTIMATION FOR EKF-BASED INERTIAL AIDED MONOCULAR SLAM
Repeated observation of several characteristically textured surface elements allows the reconstruction of the camera trajectory and a sparse point cloud which is often referred to as "map". The extended Kalman filter (EKF) is a popular method to address this problem, especially if real-tim...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2013-04-01
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| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | http://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XXXVIII-3-W22/91/2011/isprsarchives-XXXVIII-3-W22-91-2011.pdf |