Stratified Particle Filter Monocular SLAM
Abstract
This paper presents a solution to the problem of simultaneous localization and mapping (SLAM), developed from a particle filter, utilizing a monocular camera as its main sensor. It implements a novel sample-weighting idea, based on the of sorting of particles into sets and separating those sets with an importance-factor offset. The grouping criteria for samples is the number of landmarks correctly matched by a given particle. This results in the...
Paper Details
Title
Stratified Particle Filter Monocular SLAM
Published Date
Aug 14, 2021
Journal
Volume
13
Issue
16
Pages
3233 - 3233
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