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A Tree Parameterization for Efficiently Computing Maximum Likelihood Maps using Gradient Descent.
Giorgio Grisetti
Cyrill Stachniss
Slawomir Grzonka
Wolfram Burgard
Published in:
Robotics: Science and Systems (2007)
Keyphrases
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efficiently computing
maximum likelihood
olap data cubes
cost function
em algorithm
likelihood function
tree structure
gaussian distribution
expectation maximization
loss function
tree structures
binary tree
maximum a posteriori
log likelihood function
objective function
mobile robot