A decoupled moving horizon estimator for SLAM is shown to have robustly stable ego-state estimates and bounded landmark errors, with landmark updates restricted to informative horizons.
Simultaneous localization and mapping: Part I,
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Moving Horizon Estimation for Simultaneous Localization and Mapping with Robust Estimation Error Bounds
A decoupled moving horizon estimator for SLAM is shown to have robustly stable ego-state estimates and bounded landmark errors, with landmark updates restricted to informative horizons.