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...
Autori principali: | , , |
---|---|
Natura: | Journal article |
Lingua: | English |
Pubblicazione: |
2009
|