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- W4287760059 abstract "Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem in robotics with a large range of applications. This paper presents a novel approach to VSLAM by lifting the observer design to a novel Lie group on which the system output is equivariant. The perspective gained from this analysis facilitates the design of a non-linear observer with almost semi-globally asymptotically stable error dynamics. Simulations are provided to illustrate the behaviour of the proposed observer and experiments on data gathered using a fixed-wing UAV flying outdoors demonstrate its performance." @default.
- W4287760059 created "2022-07-26" @default.
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- W4287760059 date "2020-06-09" @default.
- W4287760059 modified "2023-09-24" @default.
- W4287760059 title "Constructive Observer Design for Visual Simultaneous Localisation and Mapping" @default.
- W4287760059 doi "https://doi.org/10.48550/arxiv.2006.05053" @default.
- W4287760059 hasPublicationYear "2020" @default.
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