Improving the real-time efficiency of inertial SLAM and understanding its observability

@article{Kim2004ImprovingTR,
  title={Improving the real-time efficiency of inertial SLAM and understanding its observability},
  author={Jong-Hyuk Kim and Salah Sukkarieh},
  journal={2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)},
  year={2004},
  volume={1},
  pages={21-26 vol.1}
}
This paper addresses the computational complexity associated with 6-DoF inertial SLAM by recasting the filter into an indirect or complimentary structure. By doing so the standard non-linear inertial SLAM algorithm is piecewise linearised, providing two significant breakthroughs. Firstly, through the process of linearisation, the filter estimates the errors in the inertial states (errors in position, velocity and attitude) as opposed to the inertial states themselves, thus significantly… CONTINUE READING
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