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We present a novel strategy for efficiently accessing and maintaining consistent covariance bounds within a SLAM information filter, thereby greatly increasing the reliability of data association. The technique is based upon solving a sparse system of linear equations coupled with the application of constant-time Kalman updates. The method is shown to produce consistent covariance estimates suitable for robot planning and data association. Real-world results are reported for a vision-based, six degree of freedom SLAM implementation using data from a recent survey of the wreck of the RMS Titanic.<\/jats:p>","DOI":"10.1177\/0278364906072512","type":"journal-article","created":{"date-parts":[[2006,11,13]],"date-time":"2006-11-13T14:29:33Z","timestamp":1163428173000},"page":"1223-1242","source":"Crossref","is-referenced-by-count":120,"title":["Visually Mapping the RMS Titanic: Conservative Covariance Estimates for SLAM                 Information Filters"],"prefix":"10.1177","volume":"25","author":[{"given":"Ryan M.","family":"Eustice","sequence":"first","affiliation":[{"name":"Department of Naval Architecture and Marine Engineering University of                         Michigan Ann Arbor, MI 48109 USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hanumant","family":"Singh","sequence":"additional","affiliation":[{"name":"Department of Applied Ocean Physics and Engineering, Woods Hole                         Oceanographic Institution, Woods Hole, MA 02543 USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"John J.","family":"Leonard","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Massachusetts Institute of                         Technology, Cambridge, MA, 02139 USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Matthew R.","family":"Walter","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Massachusetts Institute of                         Technology, Cambridge, MA, 02139 USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2006,12,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.2307\/4126241"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1002\/0471221279"},{"key":"atypb3","first-page":"1287","volume-title":"Proceedings of IEEE\/MTS OCEANS Conference and Exhibition","author":"Coleman, D."},{"key":"atypb4","first-page":"1403","volume-title":"Proceedings of IEEE International Conference Computer Vision","author":"Davison, A."},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2002.1017615"},{"key":"atypb6","first-page":"177","volume-title":"Proceedings of Robotics: Science & Systems. 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