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A Square Root Unscented Kalman Filter for visual monoSLAM

Abstract:

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 the more widely used EKF, but at the expense increasing computational complexity from O(N2) to O(N3) in the map size, making it unattractive for video-rate application. Van der Merwe and Wan's genera...

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Publication status:
Published

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Publisher copy:
10.1109/ROBOT.2008.4543780

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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
Pages:
3710-3716
Host title:
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9
Publication date:
2008-01-01
DOI:
ISSN:
1050-4729
Source identifiers:
318095
ISBN:
9781424416462
Pubs id:
pubs:318095
UUID:
uuid:1c64c9ce-c8c9-44f6-a986-ccd0d0b54678
Local pid:
pubs:318095
Deposit date:
2012-12-19

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