Speaker localization and tracking with a microphone array on a mobile robot using von Mises distribution and particle filtering.
Ivan MarkovicIvan PetrovicPublished in: Robotics Auton. Syst. (2010)
Keyphrases
- particle filtering
- mobile robot
- particle filter
- von mises
- visual tracking
- simultaneous localization and mapping
- heavy tailed
- object tracking
- density function
- mean shift
- kalman filter
- appearance model
- gaussian distribution
- bayesian filtering
- articulated hand
- human motion
- robust object tracking
- sequential monte carlo
- tracking framework
- probability density function
- dynamic bayesian networks
- probability distribution
- multiple targets
- articulated body
- data association
- autonomous navigation
- dynamic programming
- mobile robotics
- proposal distribution
- video sequences
- state space
- pose estimation
- indoor environments
- random variables
- motion model