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

DOI10.1007/S10846-008-9306-6MaRDI QIDQ614685zbMATH OpenOpenAlexFDO

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

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)

Recommendations

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Cites work

• scientific article; zbMATH DE number 4053088 (Why is no real title available?)
• scientific article; zbMATH DE number 1871406 (Why is no real title available?)
• Computer Vision - ECCV 2004
• Robust Kalman filtering for signals and systems with large uncertainties.
• Robust extended Kalman filtering

Cited in

(6)

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

Describes a project that uses

Uses Software

• FastSLAM
• SIFT

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