σSLAM: Stereo Vision SLAM using the Rao-Blackwellised Particle Filter and a Novel Mixture Proposal Distribution.
Pantelis ElinasRobert SimJames J. LittlePublished in: ICRA (2006)
Keyphrases
- particle filter
- stereo vision
- proposal distribution
- simultaneous localization and mapping
- object tracking
- data association
- visual tracking
- particle filtering
- bayesian filtering
- stereo matching
- state space
- mobile robot
- kalman filter
- motion model
- mean shift
- likelihood function
- vision system
- extended kalman filter
- appearance model
- state estimation
- dynamic environments
- observation model
- face tracking
- mobile robotics
- multiple objects
- robust tracking
- markov chain monte carlo
- stereo camera
- robot navigation
- indoor environments
- learning algorithm
- three dimensional