4BAIRD W H. An introduction to inertial navigation [J]. American Journal of Physics, 2009,77 (844).
5KONOLIGE K, AGRAWAL M, SOL J. Large-Scale Visual Odometry for Rough TerrainRobotics Research [M]. KANEKO M, NAKAMURA Y. Heidelberg, Berlin, Springer,2011 : 201-212.
6BONIN-FONT F, ORTIZ A, OLIVER G. Visual navigation for mobile robots : A survey [J]. Journal of Intelligent & Robotic Systems ,2008,53 ( 3 ) : 263-296.
7STRASDAT H, MONTIEL J M M, DAVISON A J. Visual SLAM: Why filter [ J ]. Image and Vision Computing, 2012,30(2) : 65-77.
8NEWMAN P, CHANDRAN-RAMESH M, COLE D, et al. Describing, navigating and recognising urban spaces-building an end-to-end SLAM system robotics research [M]. KANEKO M, NAKAMURA Y. Heidelberg, Berlin, Springer, 2011: 237-253.
9WILLIAMS B,CUMMINS M, NEIRA J, et al. A comparison of loop closing techniques in monocular SLAM [ J ]. Robotics and Autonomous Systems, 2009, 57 ( 12 ) : 1188-1197.
10KUMAR S, PRAKASH J, KANAGASABAPATHY P. A critical evaluation and experimental verification of extended kalman filter, unscented kalman filter and Neural State Filter for state estimation of three phase induction motor [ J ]. Applied Soft Computing, 2011, 11 ( 3 ) : 3199 -3208.