Robust airborne 3D visual simultaneous localization and mapping with observability and consistency analysis

DOI10.1007/s10846-008-9306-6zbMath1203.68260OpenAlexW2068128731MaRDI QIDQ614685

Abdelkrim Nemra, Nabil Aouf

Publication date: 4 January 2011

Published in: Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10846-008-9306-6

zbMATH Keywords

ConsistencyObservabilityEKF SLAMLoop closureMap managementNH\(\infty \) SLAMSimultaneous localization and mappingStereo visionUnmanned aerial vehicle

Mathematics Subject Classification ID

Machine vision and scene understanding (68T45) Artificial intelligence for robotics (68T40)

Related Items (1)

Robust and Efficient Slam Via CompressedH_∞Filtering

Uses Software

• FastSLAM
• SIFT

Cites Work

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• Robust Kalman filtering for signals and systems with large uncertainties.
• Robust extended Kalman filtering
• Computer Vision - ECCV 2004

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