Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models.
Pierre-Yves LajoieSiyi HuGiovanni BeltrameLuca CarlonePublished in: IEEE Robotics Autom. Lett. (2019)
Keyphrases
- graphical models
- belief propagation
- probabilistic model
- random variables
- probabilistic inference
- structure learning
- continuous variables
- approximate inference
- perceptual aliasing
- probabilistic graphical models
- bayesian networks
- conditional random fields
- map inference
- exact inference
- conditional independence
- factor graphs
- possibilistic networks
- mobile robot
- indoor environments
- simultaneous localization and mapping
- search space
- data association
- relational data
- particle filter
- loop closure