Visual Active SLAM Method Considering Measurement and State Uncertainty for Space Exploration

Visual Active SLAM Method Considering Measurement and State Uncertainty for Space Exploration

This paper presents a visual active SLAM method considering measurement and state uncertainty for space exploration in urban search and rescue environments. An uncertainty evaluation method based on the Fisher Information Matrix (FIM) is studied from the perspective of evaluating the localization un...

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Bibliographic Details
Main Authors: Yao Zhao, Zhi Xiong, Jingqi Wang, Lin Zhang, Pascual Campoy
Format: Article
Language:English
Published: MDPI AG 2025-07-01
Series:Aerospace
Subjects:
measurement and state uncertainty
Fisher Information Matrix
visual active SLAM
information selection
active loop closing
space exploration
Online Access:https://www.mdpi.com/2226-4310/12/7/642
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