Recasting SLAM - Towards Improving Efficiency and Platform Independency

  title={Recasting SLAM - Towards Improving Efficiency and Platform Independency},
  author={Jong-Hyuk Kim and Salah Sukkarieh},
This paper provides an alternative solution to solving SLAM’s computational complexity in Inertial Navigation System (INS) application, not from the perspective of map management techniques, but by focusing on the filter’s structure and model, and recasting the SLAM algorithm into what is known as an “indirect” implementation. In doing so we provide a navigation structure which is computationally efficient in even for highly non-linear, highly dynamic systems. The problem is solved by… CONTINUE READING


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