An interval-based structureless filter approximation predicts SLAM estimator covariance in nearly constant time per landmark, enabling observability-aware trajectory optimization.
The International Journal of Robotics Research 36(10), 1053–1072 (2017) Observability-Aware Traj
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Towards Online Observability-Aware Trajectory Optimization for Landmark-based Estimators
An interval-based structureless filter approximation predicts SLAM estimator covariance in nearly constant time per landmark, enabling observability-aware trajectory optimization.