Towards constant time SLAM using postponement

  title={Towards constant time SLAM using postponement},
  author={Joss Knight and Andrew J. Davison and Ian D. Reid},
Many recent approaches to Simultaneous Localisation and Mapping (SLAM) use an Extended Kalman Filter (EKF) to update and maintain a map of vehicle location and multiple feature positions as a sensor moves through a scene. Although it is a highly powerful and well-used tool, it suffers from a well-known complexity problem, that the amount of computation at each recursion step is proportional to the square of the number of features in the map. In this paper we outline the Postponement technique… CONTINUE READING
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