Factor Graph Optimization-based Indoor Pedestrian SLAM with Probabilistic Exact Activity Loop Closures using Smartphone.
Shiyu BaiWeisong WenLi-Ta HsuYue YuPublished in: IPIN (2023)
Keyphrases
- factor graphs
- graphical models
- message passing
- indoor environments
- belief propagation
- approximate inference
- latent variables
- mobile robot
- probabilistic model
- probabilistic graphical models
- object detection
- probabilistic inference
- exact inference
- particle filter
- model construction
- conditional random fields
- computer vision
- generative model
- pairwise
- lower bound
- bayesian networks