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...
Main Authors: | Holmes, SA, Klein, G, Murray, D |
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Format: | Journal article |
Language: | English |
Published: |
2009
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