VEHICLE WITH VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING SYSTEM AND DYNAMIC OUTLIER REJECTION FUNCTIONALITY

A Visual Simultaneous Localization and Mapping (V-SLAM) system for a mobile host, e.g., a vehicle, includes a sensor suite and controller. The sensor suite collects raw input data used to estimate parameters of the host. The controller includes a processor and a computer storage medium (“memory”) containing computer-readable instructions. Execution of the instructions by the processor causes the controller to receive the input data, use the input data to estimate poses of the host and calculate three dimensional (3D) coordinates of feature map points, and identify outliers in the feature map points using a predetermined linear algebra property, e.g., condition numbers. The controller also dynamically filters out the outliers using dynamic covariance scaling to generate a filtered feature map point set and transmits the set to a navigation system of the mobile host.