Mobile Robot 6-D Localization Using 3-D Gaussian Mixture Maps in GPS-Denied Environments.
Adam NiewolaPublished in: IEEE Intell. Syst. (2022)
Keyphrases
- gaussian mixture
- map building
- mobile robot
- dynamic environments
- robot navigation
- autonomous robots
- dead reckoning
- expectation maximization
- em algorithm
- mixtures of gaussians
- gaussian mixture model
- closed form
- topological map
- simultaneous localization and mapping
- indoor environments
- covariance matrix
- autonomous navigation
- mixture model
- probability density function
- loop closing
- density estimation
- visual landmarks
- gaussian density
- probability density
- global positioning system
- gaussian densities
- machine learning
- position information
- model selection
- supervised learning
- multiscale