Bearing-only landmark initialization by using SUF with undistorted SIFT features

In this paper, we present a delayed algorithm for landmark initialization based on a scaled unscented filter. The algorithm efficiently gives well-conditioned feature locations close to the particle filter based methods even for a very high dimensional nonlinear observation model. Comparing with EKF based methods, our method has the same computational cost while the calculation of Jacobian matrix can be avoided. Experimental results are showed to prove the accuracy and efficiency of the algorithm