T. Bailey and H. Durrant-whyte, Simultaneous localization and mapping (SLAM): part II, IEEE Robotics & Automation Magazine, vol.13, issue.3, pp.108-117, 2006.
DOI : 10.1109/MRA.2006.1678144

H. Durrant-whyte and T. Bailey, Simultaneous localization and mapping: part I, IEEE Robotics & Automation Magazine, vol.13, issue.2, pp.99-110, 2006.
DOI : 10.1109/MRA.2006.1638022
URL : http://www.doc.ic.ac.uk/~ajd/Robotics/RoboticsResources/SLAMTutorial1.pdf

S. Thrun, J. John, and . Leonard, Simultaneous localization and mapping, Springer handbook of robotics, pp.871-889, 2008.

A. Marcus, A. Brubaker, R. Geiger, and . Urtasun, Lost ! leveraging the crowd for probabilistic visual self-localization, Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, pp.3057-3064, 2013.

S. Thrun, W. Burgard, and D. Fox, Probabilistic robotics, Communications of the ACM, vol.45, issue.3, 2005.
DOI : 10.1145/504729.504754

G. Dissanayake, S. Huang, Z. Wang, and R. Ranasinghe, A review of recent developments in Simultaneous Localization and Mapping, 2011 6th International Conference on Industrial and Information Systems, pp.477-482, 2011.
DOI : 10.1109/ICIINFS.2011.6038117

J. Aulinas, R. Yvan, J. Petillot, X. Salvi, and . Lladó, The slam problem : a survey, CCIA, pp.363-371, 2008.

J. Neira, J. Andrew, . Davison, J. John, and . Leonard, Guest Editorial Special Issue on Visual SLAM, IEEE Transactions on Robotics, vol.24, issue.5, pp.929-931, 2008.
DOI : 10.1109/TRO.2008.2004620

G. Grisetti, R. Kummerle, C. Stachniss, and W. Burgard, A Tutorial on Graph-Based SLAM, IEEE Intelligent Transportation Systems Magazine, vol.2, issue.4, pp.31-43, 2010.
DOI : 10.1109/MITS.2010.939925

F. Fraundorfer and D. Scaramuzza, Visual Odometry : Part II: Matching, Robustness, Optimization, and Applications, IEEE Robotics & Automation Magazine, vol.19, issue.2, pp.78-90, 2012.
DOI : 10.1109/MRA.2012.2182810

D. Scaramuzza and F. Fraundorfer, Visual Odometry [Tutorial], IEEE Robotics & Automation Magazine, vol.18, issue.4, pp.80-92, 2011.
DOI : 10.1109/MRA.2011.943233

S. Saeedi, M. Trentini, M. Seto, and H. Li, Multiple-Robot Simultaneous Localization and Mapping: A Review, Journal of Field Robotics, vol.24, issue.6, pp.3-46, 2016.
DOI : 10.1109/TRO.2008.2006251

S. Lowry, N. Sünderhauf, P. Newman, J. John, D. Leonard et al., Visual Place Recognition: A Survey, IEEE Transactions on Robotics, vol.32, issue.1, pp.1-19, 2016.
DOI : 10.1109/TRO.2015.2496823

A. Kelly, Mobile Robotics : Mathematics, Models, and Methods, 2013.
DOI : 10.1017/CBO9781139381284

P. Newman, J. Leonard, D. Juan, J. Tardós, and . Neira, Explore and return: experimental validation of real-time concurrent mapping and localization, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), pp.1802-1809, 2002.
DOI : 10.1109/ROBOT.2002.1014803

C. Forster, L. Carlone, F. Dellaert, and D. Scaramuzza, Onmanifold preintegration theory for fast and accurate visual-inertial navigation, 2015.
DOI : 10.1109/tro.2016.2597321
URL : http://arxiv.org/pdf/1512.02363

S. Lynen, T. Sattler, M. Bosse, J. Hesch, M. Pollefeys et al., Get Out of My Lab: Large-scale, Real-Time Visual-Inertial Localization, Robotics: Science and Systems XI, 2015.
DOI : 10.15607/RSS.2015.XI.037

K. Robotics, Kuka Navigation Solution. http://www.kuka-robotics.com/res, 2016.

M. Maimone, Y. Cheng, and L. Matthies, Two years of Visual Odometry on the Mars Exploration Rovers, Journal of Field Robotics, vol.21, issue.3, pp.169-186, 2007.
DOI : 10.1016/S0921-8890(03)00004-6

I. Spectrum, AutomatonRoboticsHome Robots Dyson's Robot Vacuum Has 360-Degree Camera, Tank Treads, Cyclone Suction. http://spectrum.ieee.org/automaton/robotics/ home-robots/dyson-the-360-eye-robot-vacuum, 2016.

. Google, Project tango. https://get.google.com/tango/, 2016. [Online ; accessed 19, 2016.

F. Lu and E. Milios, Globally consistent range scan alignment for environment mapping, Autonomous Robots, vol.4, issue.4, pp.333-349, 1997.
DOI : 10.1023/A:1008854305733

J. Gutmann and K. Konolige, Incremental mapping of large cyclic environments, Proceedings 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation. CIRA'99 (Cat. No.99EX375), pp.318-325, 1999.
DOI : 10.1109/CIRA.1999.810068

R. Frank, . Kschischang, J. Brendan, H. Frey, and . Loeliger, Factor graphs and the sum-product algorithm, IEEE Transactions on information theory, vol.47, issue.2, pp.498-519, 2001.

S. Thrun, Probabilistic robotics, Communications of the ACM, vol.45, issue.3, pp.52-57, 2002.
DOI : 10.1145/504729.504754

R. Smith, M. Self, and P. Cheeseman, Estimating uncertain spatial relationships in robotics, Autonomous robot vehicles, pp.167-193, 1990.
DOI : 10.1007/978-1-4613-8997-2_14
URL : http://www.cim.mcgill.ca/~dudek/765/2007/cheeseman.pdf

M. Bosse, P. Newman, J. Leonard, and M. Soika, Wendelin Feiten et Seth Teller : An atlas framework for scalable mapping, Robotics and Automation, 2003. Proceedings. ICRA'03. IEEE International Conference on, pp.1899-1906, 2003.
DOI : 10.1109/robot.2003.1241872
URL : http://graphics.lcs.mit.edu/~seth/pubs/bosse_etal_icra2003.pdf

E. Jose and . Guivant, Efficient simultaneous localization and mapping in large environments, Thèse de doctorat, Citeseer, 2002.

M. Lina, P. Paz, . Piniés, D. Juan, J. Tardós et al., Large-scale 6-dof slam with stereo-in-hand, IEEE transactions on robotics, vol.24, issue.5, pp.946-957, 2008.

M. Montemerlo, S. Thrun, and D. Koller, Wegbreit : FastSLAM : A factored solution to the simultaneous localization and mapping problem, Proceedings of the AAAI National Conference on Artificial Intelligence, 2002.

M. Montemerlo, S. Thrun, and D. Koller, Wegbreit : FastSLAM 2.0 : An improved particle filtering algorithm for simultaneous localization and mapping that provably converges

A. J. Davison, I. D. Reid, and N. D. Molton, Stasse : MonoSLAM : Real-time single camera SLAM, IEEE Transactions on Pattern Analysis and Machine Intelligence, pp.1052-1067, 2007.
DOI : 10.1109/tpami.2007.1049
URL : http://spiral.imperial.ac.uk/bitstream/10044/1/695/1/MonoSLAM Real-Time Single Camera SLAM.pdf

P. Andrew, D. Gee, and . Chekhlov, Andrew Calway et Walterio Mayol-Cuevas : Discovering higher level structure in visual slam, IEEE Transactions on Robotics, vol.24, issue.5, pp.980-990, 2008.

E. Eade and T. Drummond, Scalable Monocular SLAM, 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Volume 1 (CVPR'06), pp.469-476, 2006.
DOI : 10.1109/CVPR.2006.263
URL : http://mi.eng.cam.ac.uk/~ee231/cvpr.pdf

A. Laura, . Clemente, J. Andrew, . Davison, D. Ian et al., Mapping large loops with a single hand-held camera, In Robotics : Science and Systems, vol.2, issue.2, 2007.

A. J. Davison, Real-time simultaneous localisation and mapping with a single camera, Proceedings Ninth IEEE International Conference on Computer Vision, pp.1403-1410, 2003.
DOI : 10.1109/ICCV.2003.1238654
URL : http://www.cse.buffalo.edu/~peter/cse668/readings/Davison_2002.pdf

J. Civera, J. Andrew, and . Davison, Inverse Depth Parametrization for Monocular SLAM, IEEE Transactions on Robotics, vol.24, issue.5, pp.932-945, 2008.
DOI : 10.1109/TRO.2008.2003276
URL : http://www.doc.ic.ac.uk/~ajd/Publications/civera_etal_tro2008.pdf

M. Pollefeys, L. Van-gool, M. Vergauwen, F. Verbiest, K. C. Tops et al., Visual Modeling with a Hand-Held Camera, International Journal of Computer Vision, vol.59, issue.3, pp.207-232, 2004.
DOI : 10.1023/B:VISI.0000025798.50602.3a

B. Triggs, F. Philip, . Mclauchlan, I. Richard, . Hartley et al., Bundle Adjustment ??? A Modern Synthesis, International workshop on vision algorithms, pp.298-372, 1999.
DOI : 10.1007/3-540-44480-7_21
URL : https://hal.archives-ouvertes.fr/inria-00548290

D. Nistér, O. Naroditsky, and J. Bergen, Visual odometry, Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2004. CVPR 2004., p.652, 2004.
DOI : 10.1109/CVPR.2004.1315094

E. Mouragnon, M. Lhuillier, M. Dhome, F. Dekeyser, and P. Sayd, Monocular Vision Based SLAM for Mobile Robots, 18th International Conference on Pattern Recognition (ICPR'06), pp.1027-1031, 2006.
DOI : 10.1109/ICPR.2006.810
URL : https://hal.archives-ouvertes.fr/hal-00091060

G. Klein and D. Murray, Parallel Tracking and Mapping for Small AR Workspaces, 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp.225-234, 2007.
DOI : 10.1109/ISMAR.2007.4538852

K. Konolige, FrameSLAM: From Bundle Adjustment to Real-Time Visual Mapping, IEEE Transactions on Robotics, vol.24, issue.5, pp.1066-1077, 2008.
DOI : 10.1109/TRO.2008.2004832
URL : http://www.willowgarage.com/sites/default/files/TOR 2008 - FrameSLAM From Bundle Adjustment.pdf

K. Konolige, J. Bowman, P. Chen, M. Mihelich, and . Calonder, View-based maps, The International Journal of Robotics Research, 2010.
DOI : 10.1177/0278364910370376
URL : https://infoscience.epfl.ch/record/149243/files/ijrr.pdf

H. Strasdat, J. Andrew, and . Davison, Real-time monocular SLAM: Why filter?, 2010 IEEE International Conference on Robotics and Automation, pp.2657-2664, 2010.
DOI : 10.1109/ROBOT.2010.5509636
URL : http://www.doc.ic.ac.uk/~ajd/Publications/strasdat_etal_icra2010.pdf

J. Michael, . Milford, F. Gordon, and . Wyeth, Ratslam : a hippocampal model for simultaneous localization and mapping, Robotics and Automation, 2004.

J. Michael, . Milford, F. Gordon, and . Wyeth, Mapping a suburb with a single camera using a biologically inspired slam system, IEEE Transactions on Robotics, vol.24, issue.5, pp.1038-1053, 2008.

J. Arren, . Glover, P. William, . Maddern, J. Michael et al., Fab-map+ ratslam : Appearance-based slam for multiple times of day, Robotics and Automation (ICRA), 2010 IEEE International Conference on, pp.3507-3512, 2010.

M. Collett, How desert ants use a visual landmark for guidance along a habitual route, Proceedings of the National Academy of Sciences, pp.11638-11643, 2010.
DOI : 10.1073/pnas.0505282102
URL : http://www.pnas.org/content/107/25/11638.full.pdf

. Shih-an, C. Li, W. Hsu, J. Lin, and . Wang, Hardware/software co-design of particle filter and its application in object tracking, IEEE International Conference on System Science and Engineering (ICSSE), pp.87-91, 2011.

M. Moyers, D. Stevens, V. Chouliaras, and D. Mulvaney, Implementation of a fixed-point FastSLAM 2.0 algorithm on a configurable and extensible VLIW processor, 2009 16th IEEE International Conference on Electronics, Circuits and Systems, (ICECS 2009), 2009.
DOI : 10.1109/ICECS.2009.5410879

C. Thomas, X. Chau, A. Niu, W. Eele, . Luk et al., Heterogeneous reconfigurable system for adaptive particle filters in real-time applications, Reconfigurable Computing : Architectures, Tools and Applications, pp.1-12

O. Tosun, Parallelization of particle filter based localization and map matching algorithms on multicore/manycore architectures, Intelligent Vehicles Symposium (IV), pp.820-826, 2011.

S. Maskell, B. , and M. Macleod, A Single Instruction Multiple Data Particle Filter, 2006 IEEE Nonlinear Statistical Signal Processing Workshop, pp.51-54, 2006.
DOI : 10.1109/NSSPW.2006.4378818

G. Hendeby, R. Karlsson, and F. Gustafsson, Particle Filtering: The Need for Speed, EURASIP Journal on Advances in Signal Processing, vol.5, issue.1, pp.1-22, 2010.
DOI : 10.1109/TSP.2005.849185
URL : https://doi.org/10.1155/2010/181403

H. Zhang and F. Martin, CUDA accelerated robot localization and mapping, 2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA), pp.1-6, 2013.
DOI : 10.1109/TePRA.2013.6556350
URL : http://www.cs.uml.edu/~fredm/papers/Zhang_Martin_TePRA2013.pdf

D. T. Tertei, J. Piat, and M. Devy, FPGA design and implementation of a matrix multiplier based accelerator for 3D EKF SLAM, 2014 International Conference on ReConFigurable Computing and FPGAs (ReConFig14), pp.1-6, 2014.
DOI : 10.1109/ReConFig.2014.7032523

G. Biruk, J. Sileshi, . Oliver, J. Toledo, P. Gonçalves et al., Particle filter slam on fpga : A case study on robot@ factory competition, Robot 2015 : Second Iberian Robotics Conference, pp.411-423, 2016.

L. Ma, M. Juan, S. Falquez, G. Mcguire, and . Sibley, Large Scale Dense Visual Inertial SLAM, Field and Service Robotics, pp.141-155, 2016.
DOI : 10.1007/978-3-319-27702-8_10

L. Nardi, B. Bodin, J. Zia, A. Mawer, . Nisbet et al., Introducing SLAMBench, a performance and accuracy benchmarking methodology for SLAM, 2015 IEEE International Conference on Robotics and Automation (ICRA), pp.5783-5790, 2015.
DOI : 10.1109/ICRA.2015.7140009
URL : http://arxiv.org/pdf/1410.2167

G. Klein and D. Murray, Parallel Tracking and Mapping for Small AR Workspaces, 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, 2007.
DOI : 10.1109/ISMAR.2007.4538852

D. Botero, A. Gonzalez, and M. Devy, Architecture embarquée pour le slam monoculaire, Reconnaissance des Formes et Intelligence Artificielle, 2012.

V. Bonato, E. Marques, and G. A. , A Floating-point Extended Kalman Filter Implementation for Autonomous Mobile Robots, Journal of Signal Processing Systems, vol.19, issue.4, pp.41-50, 2009.
DOI : 10.1017/CBO9780511811685

A. Ratter, C. Sammut, and M. Mcgill, GPU accelerated graph SLAM and occupancy voxel based ICP for encoder-free mobile robots, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.540-547, 2013.
DOI : 10.1109/IROS.2013.6696404

M. Christopher, R. Gifford, J. Webb, D. Bley, M. Leung et al., Low-cost multi-robot exploration and mapping, IEEE International Conference on Technologies for Practical Robot Applications, pp.74-79, 2008.

S. Magnenat, V. Longchamp, M. Bonani, P. Rétornaz, P. Germano et al., Affordable SLAM through the co-design of hardware and methodology, 2010 IEEE International Conference on Robotics and Automation, pp.5395-5401, 2010.
DOI : 10.1109/ROBOT.2010.5509196

D. Botero, A. Gonzalez, and M. Devy, Architecture embarquée pour le slam monoculaire, Reconnaissance des Formes et Intelligence Artificielle, 2012.

A. Mathison and T. , On computable numbers, with an application to the entscheidungsproblem, J. of Math, vol.58, pp.345-3635, 1936.

C. A. and R. Hoare, Communicating sequential processes, 1985.

J. Bonnell and D. , Data flow supercomputers, Computer, issue.11, pp.48-56, 1980.

A. F. Dias, Contribution à l'implantation optimisée d'algorithmes bas niveau de traitement du signal et des images sur des architectures mono-fpga à l'aide d'une méthodologie d'adéquation algorithme architecture, 2000.

Y. Sorel and C. Lavarenne, Modèle unifié pour la conception conjointe logiciel-matériel, Journées Adéquation Algorithme Architecture en Traitement du Signal et Images, CNES, 1996.

C. Lavarenne and Y. Sorel, Modele unifié pour la conception conjointe logiciel-matériel a unified model for software-hardware co-design, pp.569-578, 1997.

Y. Albert and . Zomaya, Parallel and distributed computing handbook, 1996.

S. Heath, Microprocessor Architectures : RISC, CISC and DSP, 2014.

G. Thierry, Modélisation d'architectures paralléles hétérogènes pour la génération automatique d'exécutifs distribuées temps réel optimisées, Thèse de doctorat

K. Jensen, Eatcs monographs on theoretical computer science, EACTS-Monographs on Theoretical Computer Science, 1992.

F. Gécseg, Products of automata eatcs monographs on theoretical computer science, EATCS Monographs on Theoretical Computer Science, vol.7, 1986.

A. Dias, Contribution l'implantation optimise d'algorithmes bas niveau de traitement du signal et des images sur des architectures mono-FPGA l'aide d'une mthodologie d'adquation algorithme-architecture, Thèse de doctorat, 2000.

B. Vincke, Architectures for simultaneous localization and mapping Systems, Thèse de doctorat, 2012.
URL : https://hal.archives-ouvertes.fr/tel-00770323

A. Howard and N. Roy, The robotics data set repository (radish), 2003.

G. Fontana, M. Bonarini, and W. Burgard-et-juan-domingo-tardos, Rawseeds : Robotics advancement through web-publishing of sensorial and elaborated extensive data sets, In proceedings of IROS'06 Workshop on Benchmarks in Robotics Research, 2006.

M. Smith, I. Baldwin, W. Churchill, R. Paul, and P. Newman, The New College Vision and Laser Data Set, The International Journal of Robotics Research, vol.28, issue.5, pp.595-599, 2009.
DOI : 10.1177/0278364909103911
URL : http://journals.sagepub.com/doi/pdf/10.1177/0278364909103911

A. Geiger and P. Lenz, Christoph Stiller et Raquel Urtasun : Vision meets robotics : The kitti dataset, The International Journal of Robotics Research, p.0278364913491297, 2013.
DOI : 10.1177/0278364913491297
URL : http://journals.sagepub.com/doi/pdf/10.1177/0278364913491297

B. Lu, X. Wu, H. Figueroa, and . Monti, A low-cost real-time hardware-in-the-loop testing approach of power electronics controls. Industrial Electronics, IEEE Transactions on, vol.54, issue.2, pp.919-931, 2007.

D. Singh, Implementing fpga design with the opencl standard, tech. report, altera corporation, 2011.

H. Bay, A. Ess, and T. Tuytelaars, Van Gool : Speeded-up robust features (SURF)
DOI : 10.1016/j.cviu.2007.09.014
URL : http://www.cs.jhu.edu/%7Emisha/ReadingSeminar/Papers/Bay08.pdf

D. G. Lowe, Distinctive Image Features from Scale-Invariant Keypoints, International Journal of Computer Vision, vol.60, issue.2, pp.91-110, 2004.
DOI : 10.1023/B:VISI.0000029664.99615.94
URL : http://www.cs.ubc.ca/~lowe/papers/ijcv03.ps

C. Harris, Stephens : A combined corner and edge detection, The Fourth Alvey Vision Conference, pp.147-151, 1988.

J. Shi and C. , Tomasi : Good features to track, IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp.593-600, 1994.

E. Rosten, R. Porter, and T. Drummond, Faster and Better: A Machine Learning Approach to Corner Detection, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.32, issue.1, pp.105-119, 2009.
DOI : 10.1109/TPAMI.2008.275
URL : http://arxiv.org/pdf/0810.2434

C. Schröter, H. J. Böhme, and H. M. Gross, Memory-efficient gridmaps in rao-blackwellized particle filters for slam using sonar range sensors, European Conf. on Mobile Robots, pp.138-143, 2007.

C. Brenneke, O. Wulf, and B. Wagner, Using 3d laser range data for slam in outdoor environments, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), pp.188-193, 2003.
DOI : 10.1109/IROS.2003.1250626

M. Montemerlo, S. Thrun, and D. Koller, Wegbreit : FastSLAM 2.0 : An improved particle filtering algorithm for simultaneous localization and mapping that provably converges, International Joint Conference on Artificial Intelligence, pp.1151-1156, 2003.

M. Montemerlo, S. Thrun, and D. Koller, Wegbreit : FastSLAM : A factored solution to the simultaneous localization and mapping problem, National Conference on Artificial Intelligence, pp.593-598, 2002.

H. Strasdat, J. Andrew, K. Davison, and . Konolige, Double window optimisation for constant time visual SLAM, 2011 International Conference on Computer Vision, pp.2352-2359, 2011.
DOI : 10.1109/ICCV.2011.6126517
URL : http://www.doc.ic.ac.uk/~ajd/Publications/strasdat_etal_iccv2011.pdf

H. Strasdat, J. Andrew, and . Davison, Scale Drift-Aware Large Scale Monocular SLAM, Robotics: Science and Systems VI, 2010.
DOI : 10.15607/RSS.2010.VI.010
URL : http://www.roboticsproceedings.org/rss06/p10.pdf

D. Gálvez-lópez, D. Juan, and . Tardos, Bags of Binary Words for Fast Place Recognition in Image Sequences, IEEE Transactions on Robotics, vol.28, issue.5, pp.1188-1197, 2012.
DOI : 10.1109/TRO.2012.2197158

A. Arleo and W. Gerstner, Modeling rodent head-direction cells and place cells for spatial learning in biomimetic robotics, Sixth International Conference on the Simulation of Adaptive Behaviour (Animals to Animats6), 2000.

M. J. Milford and G. Wyeth, Hippocampal models for simultaneous localisation and mapping on an autonomous robot. presented at Australian Conference on Robotics and Automation, 2003.

D. Prasser and G. Wyeth, Hippocampal models for simultaneous localisation and mapping on an autonomous robot, Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003.

L. Zhao, S. Huang, and G. Dissanayake, Linear slam : A linear solution to the feature-based and pose graph slam based on submap joining, Intelligent Robots and Systems (IROS) 2013 IEEE/RSJ International Conference on, pp.24-30, 2013.

S. Huang, Z. Wang, G. Dissanayake, and U. Frese, Iterated slsjf : A sparse local submap joining algorithm with improved consistency, 2008.

J. Frahm, P. Fite-georgel, D. Gallup, T. Johnson, R. Raguram et al., Building Rome on a Cloudless Day, European Conference on Computer Vision, pp.368-381
DOI : 10.1007/978-3-642-15561-1_27
URL : http://www.cs.unc.edu/%7Erraguram/papers/ECCV2010.pdf

S. Choudhary, S. Gupta, and P. Narayanan, Practical Time Bundle Adjustment for 3D Reconstruction on the GPU, Trends and Topics in Computer Vision, pp.423-435
DOI : 10.1007/978-3-642-35740-4_33

L. Paz, E. José, . Guivant, D. Juan, J. Tardós et al., Data Association in O(n) for Divide and Conquer SLAM, Robotics: Science and Systems III, p.281, 2007.
DOI : 10.15607/RSS.2007.III.036

E. Jose, E. M. Guivant, and . Nebot, Optimization of the simultaneous localization and map-building algorithm for real-time implementation, IEEE transactions on Robotics and Automation, vol.17, issue.3, pp.242-257, 2001.

A. Maghazeh, D. Unmesh, P. Bordoloi, Z. Eles, and . Peng, General purpose computing on low-power embedded GPUs: Has it come of age?, 2013 International Conference on Embedded Computer Systems: Architectures, Modeling, and Simulation (SAMOS), pp.1-10, 2013.
DOI : 10.1109/SAMOS.2013.6621099

P. Hellekalek, Good random number generators are (not so) easy to find, Mathematics and Computers in Simulation, vol.46, issue.5-6, pp.485-505, 1998.
DOI : 10.1016/S0378-4754(98)00078-0

A. De-matteis and S. Pagnutti, Parallelization of random number generators and long-range correlations, Numerische Mathematik, vol.10, issue.No. 2, pp.595-608, 1988.
DOI : 10.1007/BF01397554

C. Jeng and K. Tan, The plfg parallel pseudo-random number generator, Future Generation Computer Systems, vol.18, issue.5, pp.693-698, 2002.

P. Hellekalek, Don't trust parallel Monte Carlo!, ACM SIGSIM Simulation Digest, vol.28, issue.1, pp.82-89, 1998.
DOI : 10.1145/278009.278019

M. Sussman, W. Crutchfield, and M. Papakipos, Pseudorandom number generation on the GPU, Proceedings of the 21st ACM SIGGRAPH/EUROGRAPHICS symposium on Graphics hardware, GH '06, pp.87-94, 2006.
DOI : 10.1145/1283900.1283914

M. Njiki, S. Bouaziz, A. Elouardi, O. Casula, and O. Roy, A multi-FPGA implementation of real-time reconstruction using Total Focusing Method, 2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, pp.468-473, 2013.
DOI : 10.1109/CYBER.2013.6705491
URL : https://hal.archives-ouvertes.fr/hal-01686815

A. Vicard, Formalisation et optimisation des systèmes informatiques distribués temps réel embarqués, Thèse de doctorat, 1999.

M. Kraft, A. Schmidt, and A. Kasinski, High-speed image feature detection using fpga implementation of fast algorithm, International Conference on Computer Vision Theory and Applications, pp.174-179, 2008.

A. Schmidt, M. Kraft, and A. Kasi?ski, An evaluation of image feature detectors and descriptors for robot navigation. Computer Vision and Graphics, pp.251-259, 2010.

J. M. Montiel, J. Civera, and A. J. Davison, Unified Inverse Depth Parametrization for Monocular SLAM, Robotics: Science and Systems II, pp.16-19, 2006.
DOI : 10.15607/RSS.2006.II.011
URL : http://www.doc.ic.ac.uk/~ajd/Publications/civera_etal_tro2008.pdf

N. Sunderhauf, S. Lange, and P. Protzel, Using the Unscented Kalman Filter in Mono-SLAM with Inverse Depth Parametrization for Autonomous Airship Control, 2007 IEEE International Workshop on Safety, Security and Rescue Robotics, pp.1-6, 2007.
DOI : 10.1109/SSRR.2007.4381265

P. Piniés, T. Lupton, S. Sukkarieh, and J. D. , Tardós : Inertial aiding of inverse depth slam using a monocular camera, IEEE International Conference on Robotics and Automation, pp.2797-2802, 2007.

G. William, L. H. Madow, and . Madow, On the theory of systematic sampling, i. The Annals of Mathematical Statistics, pp.1-24, 1944.

J. Yu, W. Liu, and Y. Tang, Improved particle filter algorithms based on partial systematic resampling, 2010 IEEE International Conference on Intelligent Computing and Intelligent Systems, pp.483-487, 2010.
DOI : 10.1109/ICICISYS.2010.5658594

Q. Gan, J. M. Langlois, and Y. Savaria, A reformulated systematic resampling algorithm for particle filters and its parallel implementation in an application-specific instruction-set processor, 2013 IEEE 56th International Midwest Symposium on Circuits and Systems (MWSCAS), pp.1415-1418, 2013.
DOI : 10.1109/MWSCAS.2013.6674922