D2A-BSP: Distilled Data Association Belief Space Planning with Performance Guarantees Under Budget Constraints.
Moshe ShienmanVadim IndelmanPublished in: ICRA (2022)
Keyphrases
- belief space
- data association
- budget constraints
- initial state
- state space
- dynamic environments
- motion planning
- belief state
- planning under uncertainty
- particle filter
- motion model
- visual tracking
- object tracking
- kalman filter
- partially observable markov decision processes
- body parts
- multi sensor
- action sequences
- multiple objects
- ai planning
- partially observable
- classical planning
- optimal policy
- degrees of freedom
- planning process
- probability distribution
- mean shift
- planning graph
- particle filtering
- bidding strategies
- multi robot
- image sequences
- appearance model
- path planning
- heuristic search
- object recognition