The number of research publications dealing with the simultaneous localization and
mapping problem has grown significantly over the past 15 years. Many fundamental and …

In this paper we address the inconsistency of the EKF-based SLAM algorithm that stems
from non-observability of the origin and orientation of the global reference frame. We prove …

Abstract Simultaneous Localisation and Mapping (SLAM) is the archetypal chicken and egg
problem: Localisation of a robot with respect to a map requires an estimate of the map, while …

The extended Kalman filter (EKF) is both the historical algorithm for multi-sensor fusion and
still state of the art in numerous industrial applications. However, it may prove inconsistent in …

The Simultaneous Localisation and Mapping (SLAM) problem involves estimating the pose
of a robot relative to landmarks observed in the environment while at the same time …

In this paper, we illustrate the application of a nonlinear active structure estimation from
motion (SfM) strategy to three problems, namely 3-D structure estimation for 1) a point, 2) a …

This brief addresses the problem of trajectory tracking control of autonomous rotorcraft in
operation scenarios where only relative position measurements obtained from light …

In this paper we experimentally validate and compare three different methods for estimating
the 3D parameters of a planar scene from a (possibly time-varying) set of feature points …

Spin image is a good point feature descriptor of the 3D surface and has been used in model
registration for many applications from medical image processing to cooperation of multiple …

This paper presents the design, analysis, and experimental validation of a globally
asymptotically stable (GAS) filter for simultaneous localization and mapping (SLAM) with …