Information-based view initialization in visual SLAM with a single omnidirectional camera
Novel mechanism for the view initialization process in an EKF-based visual SLAM approach. An efficient strategy which accounts for information gain and losses. Probabilistic representation of features and correlation learning by Gaussian regression. Bounding the uncertainty mitigates the non-linear effects which compromise the solution. Accuracy and robustness comparison versus a traditional EKF-based SLAM approach.
visual slam information gain ekf omnidirectional images gaussian process