Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Fastslam: a factored solution to the simultaneous localization and mapping problem with unknown data association
Visual Modeling with a Hand-Held Camera
International Journal of Computer Vision
Fusing Points and Lines for High Performance Tracking
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision - Volume 2
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
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The non-Gaussianity of the depth estimate uncertainty degrades the performance of monocular extended Kalman filter SLAM (EKF-SLAM) systems employing a 3-component Cartesian landmark parameterization, especially in low-parallax configurations. Even particle filter SLAM (PF-SLAM) approaches are affected, as they utilize EKF for estimating the map. The inverse depth parameterization (IDP) alleviates this problem through a redundant representation, but at the price of increased computational complexity. The authors show that such a redundancy does not exist in PF-SLAM, hence the performance advantage of the IDP comes almost without an increase in the computational cost.