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@INPROCEEDINGS{4526442, 
title={Utilizing Model Structure for Efficient Simultaneous Localization and Mapping for a UAV Application}, 
author={Karlsson, R. and Schon, T.B. and Tornqvist, D. and Conte, G. and Gustafsson, F.}, 
journal={Aerospace Conference, 2008 IEEE}, 
year={2008}, 
month={March}, 
volume={}, 
number={}, 
pages={1-10}, 
keywords={SLAM (robots), aerospace robotics, helicopters, mobile robots, particle filtering (numerical methods), remotely operated vehicles, sensorsFastSLAM algorithm, Rao-Blackwellized particle filter, UAV application, helicopters, low-dimensional vehicle models, marginalized particle filter, onboard inertial sensors, positioning applications, simultaneous localization and mapping, tracking applications}, 
doi={10.1109/AERO.2008.4526442}, 
ISSN={1095-323X}, }