Reduced dimensionality extended Kalman filter for SLAM in a relative formulation

Dinesh Srikantha Gamage, Thomas William Drummond

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

6 Citations (Scopus)

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.
Original languageEnglish
Title of host publication2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)
EditorsAlois Knoll
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1365-1372
Number of pages8
ISBN (Electronic)9781479999941, 9781479999934
ISBN (Print)9781479999958
DOIs
Publication statusPublished - 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 2015 - Hamburg, Germany
Duration: 28 Sep 20152 Oct 2015
https://ieeexplore.ieee.org/xpl/conhome/7347169/proceeding (Proceedings)

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 2015
Abbreviated titleIROS 2015
CountryGermany
CityHamburg
Period28/09/152/10/15
Internet address

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