Table 3 Parameter definitions
From: Large-scale monocular FastSLAM2.0 acceleration on an embedded heterogeneous architecture
Parameters | Definition |
|---|---|
zmssd | Zero mean sum of squared differences |
m d | Pixels mean of the landmark descriptor |
I lmk | Pixel intensity of the landmark descriptor |
m p | Pixels mean of the corner descriptor |
I p | Pixel intensity of corner descriptor |
x,y | Location in image of the detected corner |
i,j | Indexes to surrounding pixels in the descriptor |
f | Motion model |
h | Pin-Hol model |
u t (n l ,n r ) | Odometry data |
s t (s x ,s y ,s θ ) | Particle pose |
δ s ,δ θ | Longitudinal and angular displacement |
b | Wheels base |
P m | Particles initial covariance matrix |
G u | Jacobian matrix of motion model f derived according to s t |
G p | Jacobian matrix of motion model f derived according to δ s ,δ θ |
Q | Motion model noise |
M | Number of particles |
N | Number of landmarks |
μ | Mean of the new proposal distribution |
Σ | Covariance matrix of the new proposal distribution |
H p | Jacobian matrix of observation model (Pin-Hol) |
Z n | Innovation covariance |
z t | Measurement |
\(\hat {z}_{t}\) | Measurement prediction |
\(\left (\hat {u},\hat {v}\right)\) | Predicted landmark position in image |
(u,v) | Landmark position in image |
(x,y,ρ,ϕ,θ) | Landmark inverse depth parametrization |
\(\left (c_{u},c_{v},f_{k_{u}}\right)\) | Standard camera calibration |
X(x cam,y cam,z cam) | Landmark 3D world coordinate |
C | Landmark covariance matrix |
ω | Particle weight |
N eff | Number of effective particles |