Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Constructive Observer Design for Visual Simultaneous Localisation and
  Mapping   Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem
in robotics with a large range of applications. This paper presents a novel
approach to VSLAM by lifting the observer design to a novel Lie group on which
the system output is equivariant. The perspective gained from this analysis
facilitates the design of a non-linear observer with almost semi-globally
asymptotically stable error dynamics. Simulations are provided to illustrate
the behaviour of the proposed observer and experiments on data gathered using a
fixed-wing UAV flying outdoors demonstrate its performance.

37
The categories of this paper are: supr-con
17
The categories of this paper are: q-fin
35
The categories of this paper are: mtrl-th
8
The categories of this paper are: hep-ex
5
The categories of this paper are: gr-qc
32
The categories of this paper are: atom-ph
28
The categories of this paper are: alg-geom
14
The categories of this paper are: math-ph
24
The categories of this paper are: dg-ga
12
The categories of this paper are: nucl-th
10
The categories of this paper are: q-bio
11
The categories of this paper are: hep-lat
33
The categories of this paper are: plasm-ph
16
The categories of this paper are: stat
9
The categories of this paper are: nlin
3
The categories of this paper are: physics