IS = { zkontrolovano 06 Aug 2014 },
  UPDATE  = { 2014-07-25 },
author =      {Poto{\v c}ek, Pavel},
supervisor =  {Svoboda, Tom{\'a}{\v s}},
title =       {Probabilistic Approach to Landmark Management in Visual Odometry},
school =      {Center for Machine Perception, K13133 FEE, Czech Technical University},
address =     {Prague, Czech Republic},
year =        {2014},
month =       {June},
type =        {{BSc Thesis CTU--CMP}},
pages =       {50},
figures =     {20},
authorship =  {100},
psurl       = {https://cyber.felk.cvut.cz/research/theses/papers/503.pdf},
project =     {FP7-ICT-609763 TRADR},
annote =      {We implemented a FastSLAM 2.0-based algorithm for
                  visual trajectory estimation and applied it to the
                  NIFTi robot. We performed multiple experiments to
                  validate the algorithm and measured its performance
                  in various settings. We showed that our algorithm
                  outperforms the existing solution in many of
                  them. We proposed future changes to the algorithm
                  that have a potential to further increase the
keywords =    {robotics, visual slam},