A Square Root Unscented Kalman Filter for visual monoSLAM

A Square Root Unscented Kalman Filter for visual monoSLAM

This paper introduces a Square Root Unscented Kalman Filter (SRUKF) solution to the problem of performing visual Simultaneous Localization and Mapping (SLAM) using a single camera. Several authors have proposed the conventional UKF for SLAM to improve the handling of non-linearities compared with th...

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Bibliographic Details
Main Authors:	Holmes, S, Klein, G, Murray, D, IEEE
Format:	Conference item
Published:	2008

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