A Nonlinear Least-Squares Approach to the SLAM Problem*
نویسندگان
چکیده
منابع مشابه
A Nonlinear Least-Squares Approach to the SLAM Problem
In this work we present a solution to the simultaneous localisation and mapping (SLAM) problem using a camera and inertial sensors. Our approach is based on the maximum a posteriori (MAP) estimate of the complete SLAM estimate. The resulting problem is posed in a nonlinear leastsquares framework which we solve with the GaussNewton method. The proposed algorithm is evaluated on experimental data...
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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2011
ISSN: 1474-6670
DOI: 10.3182/20110828-6-it-1002.02042