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Real-time Implementation of Airborne Inertial-SLAM

Kim, Jonghyuk; Sukkarieh, Salah


This paper addresses some challenges to the real-time implementation of Simultaneous Localisation and Mapping (SLAM) on a UAV platform. When compared to the implementation of SLAM in 2D environments, airborne implementation imposes several difficulties in terms of computational complexity and loop closure, with high nonlinearity in both vehicle dynamics and observations. An implementation of airborne SLAM is formulated to relieve this computational complexity in both direct and indirect ways....[Show more]

CollectionsANU Research Publications
Date published: 2007
Type: Journal article
Source: Robotics and Autonomous Systems
DOI: 10.1016/j.robot.2006.06.006


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