IEEE - Institute of Electrical and Electronics Engineers, Inc. - Robust vision-aided navigation using Sliding-Window Factor graphs

2013 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Han-Pang Chiu ; Stephen Williams ; Frank Dellaert ; Supun Samarasekera ; Rakesh Kumar
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2013
Conference Location: Karlsruhe, Germany
Conference Date: 6 May 2013
Page(s): 46 - 53
ISBN (Electronic): 978-1-4673-5643-5
ISBN (Paper): 978-1-4673-5641-1
ISSN (Paper): 1050-4729
DOI: 10.1109/ICRA.2013.6630555
Regular:

This paper proposes a navigation algorithm that provides a low-latency solution while estimating the full nonlinear navigation state. Our approach uses Sliding-Window Factor Graphs, which extend... View More

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