— This paper presents the Common State Filter (CSF), a novel and efficient suboptimal Multiple Hypothesis SLAM (MHSLAM) method for Kalman Filter-based SLAM algorithms. Conventio...
The solution to the problem of mapping an environment and at the same time using this map to localize (the simultaneous localization and mapping, SLAM, problem) is a key prerequis...
Abstract— In this work, we study the inconsistency of EKFbased SLAM from the perspective of observability. We analytically prove that when the Jacobians of the state and measurem...
Guoquan Huang, Anastasios I. Mourikis, Stergios I....
— This paper presents the novel insight that the SLAM information matrix is exactly sparse in a delayedstate framework. Such a framework is used in view-based representations of ...