The paper introduces a QP-based safety filter that enforces a minimum number of visible features for visual SLAM by treating the count as a control-barrier constraint.
Lqg-mp: Optimized path planning for robots with motion uncertainty and imperfect state information,
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Enhancing Feature Tracking Reliability for Visual Navigation using Real-Time Safety Filter
The paper introduces a QP-based safety filter that enforces a minimum number of visible features for visual SLAM by treating the count as a control-barrier constraint.