An Improved Extended Information Filter SLAM Algorithm Based on Omnidirectional Vision

Algorithm 1

Sparsification rule for information matrix.

while 𝑡>𝑁

    Λ_𝑡0Λ(𝑖,𝑗)=^𝑡≤1(𝑖,𝑗)𝜆dim(Λ_𝑡)²Λ⁻¹_𝑡−1Λ_𝑡(𝑖,𝑗)others

    ∀𝑖,𝑗1≤𝑖≤𝑟(Λ_𝑡)1≤𝑗≤𝑐(Λ_𝑡)

end