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

DOI10.1007/S10846-008-9306-6zbMATH Open1203.68260OpenAlexW2068128731MaRDI QIDQ614685FDOQ614685

Authors: 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

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zbMATH Keywords

ConsistencyEKF SLAMLoop closureMap managementNH\(\infty \) SLAMObservabilitySimultaneous localization and mappingStereo visionUnmanned aerial vehicle

Mathematics Subject Classification ID

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

Cites Work

• Robust Kalman filtering for signals and systems with large uncertainties.
• Robust extended Kalman filtering
• Title not available (Why is that?)
• Title not available (Why is that?)
• Computer Vision - ECCV 2004

Cited In (5)

• Robust and efficient SLAM via compressed \(H_{\infty}\) filtering
• Architectures for cooperative airborne simultaneous localisation and mapping
• Visual 3-D SLAM from uavs
• Constructive observer design for visual simultaneous localisation and mapping
• Robust 3-D visual SLAM in a large-scale environment

Uses Software

• FastSLAM
• SIFT

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