An O(N(2)) square root unscented Kalman Filter for visual simultaneous localization and mapping.

This paper develops a Square Root Unscented Kalman Filter (SRUKF) for performing video-rate visual simultaneous localization and mapping (SLAM) using a single camera. The conventional UKF has been proposed previously for SLAM, improving the handling of nonlinearities compared with the more widely us...

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Autori principali: Holmes, SA, Klein, G, Murray, D
Natura: Journal article
Lingua:English
Pubblicazione: 2009