Robust Active Perception via Data-association aware Belief Space planning.
Shashank PathakAntony ThomasAsaf FenigerVadim IndelmanPublished in: CoRR (2016)
Keyphrases
- belief space
- data association
- dynamic environments
- state space
- planning under uncertainty
- belief state
- motion planning
- initial state
- particle filter
- visual tracking
- partially observable
- motion model
- multiple objects
- kalman filter
- object tracking
- partially observable markov decision processes
- multiscale
- classical planning
- planning graph
- heuristic search
- domain specific
- probability distribution
- dynamic programming
- reinforcement learning