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cs.RO2020
RISE-SLAM: A Resource-aware Inverse Schmidt Estimator for SLAM
Tong Ke, Kejian J. Wu, Stergios I. Roumeliotis
In this paper, we present the RISE-SLAM algorithm for performing visual-inertial simultaneous localization and mapping (SLAM), while improving estimation consistency. Specifically,…
cs.RO2016
Consistent Map-based 3D Localization on Mobile Devices
Ryan C. DuToit, Joel A. Hesch, Esha D. Nerurkar +1
The objective of this paper is to provide consistent, real-time 3D localization capabilities to mobile devices navigating within previously mapped areas. To this end, we introduce…