Reduced dimensionality extended Kalman Filter for SLAM in a relative formulation

Dinesh Gamage; Tom Drummond

IROS 2015poster10 citations

Reduced dimensionality extended Kalman Filter for SLAM in a relative formulation

Abstract

Modern approaches to monocular SLAM retain all observations and repeatedly perform bundle adjustment in order to overcome the inconsistency problem that arises in approaches that marginalise out camera positions. Bundle adjustment is inherently an expensive operation and so sparse matrix techniques and double window optimisation on sparsely sampled key-frames are employed to minimize the computational cost.

BibTeX

@inproceedings{iros2015_reduceddimension,
  title = {Reduced dimensionality extended Kalman Filter for SLAM in a relative formulation},
  author = {Dinesh Gamage and Tom Drummond},
  booktitle = {IROS 2015},
  year = {2015}
}