— In this paper, we present an Extended Kalman Filter (EKF)-based estimator for simultaneous localization and mapping (SLAM) with processing requirements that are linear in the n...
—In this paper we show that all processes associated to the move-sense-update cycle of EKF SLAM can be carried out in time linear in the number of map features. We describe Divid...
— This paper addresses two key limitations of the unscented Kalman filter (UKF) when applied to the simultaneous localization and mapping (SLAM) problem: the cubic, in the numbe...
Guoquan Huang, Anastasios I. Mourikis, Stergios I....
This paper presents a new efficient algorithm for simultaneous localization and mapping (SLAM), using multiple overlapping submaps, each built with respect to a local frame of re...
— Recent work has demonstrated the benefits of adopting a fully probabilistic SLAM approach in sequential motion and structure estimation from an image sequence. Unlike standard...
Javier Civera, Andrew J. Davison, J. M. M. Montiel