This paper discusses the recursive Bayesian formulation of the simultaneous localization
and mapping (SLAM) problem in which probability distributions or estimates of absolute or …

We present a new parametrization for point features within monocular simultaneous
localization and mapping (SLAM) that permits efficient and accurate representation of …

Building a spatially consistent model is a key functionality to endow a mobile robot with
autonomy. Without an initial map or an absolute localization means, it requires to …

In this paper, we describe a system that can carry out simultaneous localization and
mapping (SLAM) in large indoor and outdoor environments using a stereo pair moving with …

This paper explores the impact that landmark parametrization has in the performance of
monocular, EKF-based, 6-DOF simultaneous localization and mapping (SLAM) in the …

Most solutions to the SLAM problem in robotics have utilised range and beating sensors as
the provided perception data is easy to incorporate, allowing immediate landmark …

This paper presents a method to incorporate 3D line segments in vision based SLAM. A
landmark initialization method that relies on the Plucker coordinates to represent a 3D line is …

This article presents a bearing only 3D SLAM algorithm which has the same complexity and
optimality as the usual extended Kalman filter used in classical SLAM. We especially focus …

This paper presents the on‐going design and implementation of a robust inertial sensor
based simultaneous localization and mapping (SLAM) algorithm for an unmanned aerial …

This paper presents the benefits of using a low cost inertial measurement unit to aid in an
implementation of inverse depth initialized SLAM using a hand-held monocular camera …