I am a professor at the Department of Electrical and
Computer Systems Engineering at Monash University

email: tom.drummond@monash.edu

Research Topics:

Reduced dimensionality EKF for SLAM (with Dinesh Gamage)

This paper presents a method for reducing the computational complexity of Kalman Filters where large numbers of dimensions have no process noise (e.g. in SLAM).  The method reduces the dimensionality of the filter by removing dimensions which have been accurately measured, retaining just the unknown dimensions in the filter.

[BMVC 2013 paper]

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