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.
Orb-SLAM3: An accurate open-source library for visual, visual–inertial, and multimap SLAM,
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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.