A 3-Component Inverse Depth Parameterization for Particle Filter SLAM.
Evren ImreMarie-Odile BergerPublished in: DAGM-Symposium (2009)
Keyphrases
- particle filter
- simultaneous localization and mapping
- object tracking
- visual tracking
- data association
- particle filtering
- kalman filter
- monte carlo
- likelihood function
- state space
- multiple hypotheses
- mean shift
- appearance model
- motion model
- robust visual tracking
- state estimation
- observation model
- multiple object tracking
- rao blackwellized particle filter
- robust tracking
- target tracking
- multiple objects
- proposal distribution
- importance sampling
- depth map
- optical flow
- bayesian filtering
- multiple hypothesis
- indoor environments
- mobile robot
- tracking scheme
- learning algorithm