Towards Particle Filter SLAM with Three Dimensional Evidence Grids in a Flooded Subterranean Environment.
Nathaniel FairfieldGeorge KantorDavid WettergreenPublished in: ICRA (2006)
Keyphrases
- particle filter
- three dimensional
- simultaneous localization and mapping
- particle filtering
- visual tracking
- object tracking
- rao blackwellized particle filter
- kalman filter
- data association
- mean shift
- likelihood function
- mobile robot
- state estimation
- state space
- observation model
- robust tracking
- mobile robotics
- multiple hypotheses
- sequential monte carlo
- motion model
- face tracking
- robust visual tracking
- appearance model
- multiple hypothesis
- monte carlo
- multiple objects
- extended kalman filter
- multiple object tracking
- proposal distribution
- articulated body
- dynamic environments
- abrupt motion
- real time
- importance sampling
- indoor environments
- multi view