Planetary Monocular Simultaneous Localisation and Mapping

Planetary Monocular Simultaneous Localisation and Mapping (PM-SLAM) uses an approach that provides a reactive calculation of the rover position and heading while building a sparse map of visual features using an implementation of the Extended Information Filter (EIF). The algorithm uses SURF features that are extracted from a mocular image sequence as visual key points and translates them to 3D landmarks once they are filtered from noise and values of their uncertainty are obtained.