Hang-Hang Xu

Robust Simultaneous Localization and Mapping in Non-Gaussian Environments Using Gaussian-Manifold–Projected Structure–Spectrum Regularized Cubature Kalman Filter

To address the challenges of non-Gaussian process disturbances, observation contamination, and numerical degeneration of high-dimensional covariance matrices in outdoor large-scale mobile mapping and simultaneous localization and mapping (SLAM), this paper proposes a Gaussian-manifold–based structure–spectrum dual-doma...