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Robot localization based on scan-matching - estimating the covariance matrix for the IDC algorithm.
Ola Bengtsson
Albert-Jan Baerveldt
Published in:
Robotics Auton. Syst. (2003)
Keyphrases
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covariance matrix
matching algorithm
k means
dynamic programming
np hard
objective function
worst case
path planning
search space
particle swarm optimization
expectation maximization
probabilistic model
simulated annealing
model selection
geometrical interpretation