A Sliding Window Filter for SLAM

@inproceedings{Sibley2006ASW,
  title={A Sliding Window Filter for SLAM},
  author={Gabe Sibley},
  year={2006}
}
This note describes a Sliding Window Filter that is an on-line constanttime approximation to the feature-based 6-degree-of-freedom full Batch Least Squares Simultaneous Localization and Mapping (SLAM) problem. We contend that for SLAM to be useful in large environments and over extensive run-times, its computational time complexity must be constant, and its memory requirements should be at most linear. Under this constraint, the “best” algorithm will be the one that comes closest to matching… CONTINUE READING

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