Reduced dimensionality extended Kalman filter for SLAM in a relative formulation

Dinesh Srikantha Gamage; Thomas William Drummond

doi:10.1109/IROS.2015.7353545

Reduced dimensionality extended Kalman filter for SLAM in a relative formulation

Dinesh Srikantha Gamage, Thomas William Drummond

Electrical and Computer Systems Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

7 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 language	English
Title of host publication	2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)
Editors	Alois Knoll
Place of Publication	Piscataway NJ USA
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	1365-1372
Number of pages	8
ISBN (Electronic)	9781479999941, 9781479999934
ISBN (Print)	9781479999958
DOIs	https://doi.org/10.1109/IROS.2015.7353545
Publication status	Published - 2015
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems 2015 - Hamburg, Germany Duration: 28 Sept 2015 → 2 Oct 2015 https://ieeexplore.ieee.org/xpl/conhome/7347169/proceeding (Proceedings)

Publication series

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

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems 2015
Abbreviated title	IROS 2015
Country/Territory	Germany
City	Hamburg
Period	28/09/15 → 2/10/15
Internet address	https://ieeexplore.ieee.org/xpl/conhome/7347169/proceeding (Proceedings)

Access to Document

10.1109/IROS.2015.7353545

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). 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).

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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",

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series = "IEEE International Conference on Intelligent Robots and Systems",

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pages = "1365--1372",

editor = "Alois Knoll",

booktitle = "2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)",

address = "United States of America",

note = "IEEE/RSJ International Conference on Intelligent Robots and Systems 2015, IROS 2015 ; Conference date: 28-09-2015 Through 02-10-2015",

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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, 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 proceeding › Conference Paper › Research › peer-review

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AU - Gamage, Dinesh Srikantha

AU - Drummond, Thomas William

PY - 2015

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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.

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DO - 10.1109/IROS.2015.7353545

M3 - Conference Paper

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

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CY - Piscataway NJ USA

T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems 2015

Y2 - 28 September 2015 through 2 October 2015

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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). doi: 10.1109/IROS.2015.7353545

Reduced dimensionality extended Kalman filter for SLAM in a relative formulation

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