Improved Data Association for ICP-based Scan Matching in Noisy and Dynamic Environments.
Diego Rodríguez-LosadaJavier MinguezPublished in: ICRA (2007)
Keyphrases
- dynamic environments
- data association
- simultaneous localization and mapping
- multi target tracking
- particle filter
- motion model
- mobile robot
- multiple target tracking
- object tracking
- autonomous agents
- path planning
- visual tracking
- target tracking
- kalman filter
- changing environment
- multiple hypothesis tracking
- multiple targets
- multitarget tracking
- multi sensor
- icp algorithm
- multiple objects
- range images
- feature points
- real environment
- mean shift
- multiresolution
- spatio temporal