Know What You Don't Know: Consistency in Sliding Window Filtering With Unobservable States Applied to Visual-Inertial SLAM
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DOI: 10.1109/lra.2023.3268043
Abstract: Estimation algorithms, such as the sliding window filter, produce an estimate and uncertainty of desired states. This task becomes challenging when the problem involves unobservable states. In these situations, it is critical for the algorithm… read more here.
Keywords: consistency sliding; visual inertial; know know; sliding window ... See more keywords