6DoF Feature-Based SLAM

The 6DoF Feature-Based SLAM approach belongs to the category of full observable SLAM approaches. Such full observable SLAM systems provide with a single measurement enough information to compute the full state. The 6DoF Feature-Based SLAM system use odometry and inclinometer data to predict the robot pose and 3D landmark measurements to update the robot pose and landmark positions. The 3D landmarks can be extracted from ToF camera, stereo vision or kinect data.