Rao-Blackwellized Posterior Linearization Backward SLAM.
Ángel F. García-FernándezRoland HostettlerSimo SärkkäPublished in: IEEE Trans. Veh. Technol. (2019)
Keyphrases
- mobile robot
- simultaneous localization and mapping
- probability distribution
- dynamic environments
- visual slam
- monocular slam
- bayesian framework
- forward and backward
- gaussian process
- forward backward
- loop closing
- posterior distribution
- indoor environments
- posterior probability
- proposal distribution
- bi directional
- object and scene recognition
- mobile robotics
- class probabilities
- kullback leibler divergence
- data association
- particle filter
- probabilistic model
- map building
- mixed integer
- stochastic differential equations
- kalman filter
- path planning
- robot moves