A particle filter for monocular vision-aided odometry.
Teddy N. Yap Jr.Mingyang LiAnastasios I. MourikisChristian R. SheltonPublished in: ICRA (2011)
Keyphrases
- monocular vision
- particle filter
- simultaneous localization and mapping
- indoor environments
- object tracking
- particle filtering
- visual tracking
- state space
- monte carlo
- motion model
- likelihood function
- appearance model
- multiple hypotheses
- kalman filter
- robust tracking
- state estimation
- data association
- mean shift
- multiple hypothesis
- observation model
- proposal distribution
- target tracking
- robust visual tracking
- importance sampling
- extended kalman filter
- mobile robot
- face tracking
- machine learning
- markov chain monte carlo
- sequential monte carlo
- multiple objects
- dynamic programming
- bhattacharyya coefficient
- search algorithm