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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Bibliographische Detailangaben

Veröffentlicht in:	IEEE transactions on pattern analysis and machine intelligence. - 1979. - 31(2009), 7 vom: 14. Juli, Seite 1251-63
1. Verfasser:	Holmes, Steven A (VerfasserIn)
Weitere Verfasser:	Klein, Georg, Murray, David W
Format:	Online-Aufsatz
Sprache:	English
Veröffentlicht:	2009
Zugriff auf das übergeordnete Werk:	IEEE transactions on pattern analysis and machine intelligence
Schlagworte:	Journal Article Research Support, Non-U.S. Gov't