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

4 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

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

Cite this

Gamage, D. S., & Drummond, T. W. (2015). Reduced dimensionality extended Kalman filter for SLAM in a relative formulation. In A. Knoll (Ed.), 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015) (pp. 1365-1372). (IEEE International Conference on Intelligent Robots and Systems). Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/IROS.2015.7353545
Gamage, Dinesh Srikantha ; Drummond, Thomas William. / Reduced dimensionality extended Kalman filter for SLAM in a relative formulation. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015). editor / Alois Knoll. Piscataway NJ USA : IEEE, Institute of Electrical and Electronics Engineers, 2015. pp. 1365-1372 (IEEE International Conference on Intelligent Robots and Systems).
@inproceedings{9e9d6c219dc04039b54a69f76bb8957b,
title = "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.",
author = "Gamage, {Dinesh Srikantha} and Drummond, {Thomas William}",
year = "2015",
doi = "10.1109/IROS.2015.7353545",
language = "English",
isbn = "9781479999958",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "IEEE, Institute of Electrical and Electronics Engineers",
pages = "1365--1372",
editor = "Alois Knoll",
booktitle = "2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)",
address = "United States of America",

}

Gamage, DS & Drummond, TW 2015, Reduced dimensionality extended Kalman filter for SLAM in a relative formulation. in A Knoll (ed.), 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015). IEEE International Conference on Intelligent Robots and Systems, IEEE, Institute of Electrical and Electronics Engineers, Piscataway NJ USA, pp. 1365-1372, IEEE/RSJ International Conference on Intelligent Robots and Systems 2015, Hamburg, Germany, 28/09/15. https://doi.org/10.1109/IROS.2015.7353545

Reduced dimensionality extended Kalman filter for SLAM in a relative formulation. / Gamage, Dinesh Srikantha; Drummond, Thomas William.

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015). ed. / Alois Knoll. Piscataway NJ USA : IEEE, Institute of Electrical and Electronics Engineers, 2015. p. 1365-1372 (IEEE International Conference on Intelligent Robots and Systems).

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

TY - GEN

T1 - Reduced dimensionality extended Kalman filter for SLAM in a relative formulation

AU - Gamage, Dinesh Srikantha

AU - Drummond, Thomas William

PY - 2015

Y1 - 2015

N2 - 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.

AB - 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.

U2 - 10.1109/IROS.2015.7353545

DO - 10.1109/IROS.2015.7353545

M3 - Conference Paper

SN - 9781479999958

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 1365

EP - 1372

BT - 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)

A2 - Knoll, Alois

PB - IEEE, Institute of Electrical and Electronics Engineers

CY - Piscataway NJ USA

ER -

Gamage DS, Drummond TW. Reduced dimensionality extended Kalman filter for SLAM in a relative formulation. In Knoll A, editor, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015). Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers. 2015. p. 1365-1372. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2015.7353545