Author : Carlone
Year : 2017
- Visual attention for VIN = selecting the best features
- find a subset S of features that maximises a function f(S) under the constraint
$|S| < \kappa $ - F is built by anticipating the information matrix on a time horizon that takes into account the probability of loosing features
- reformulate a set of IMU measurements based on the prediction from the flight controller and compute an information matrix out of it
- a linear observation model is derived to predict the measurements of features and their information, the contribution of the landmark estimate is removed from the infromation matrix using the schur complement
- finding S* is np hard
- developp a greedy algorithm to find the best subset based on two
$f$ : one based on the minimum eigen value and one based on the log of the det