Fast Grid SLAM Based on Particle Filter with Scan Matching and Multithreading.
Eurico Farinha PedrosaArtur PereiraNuno LauPublished in: ICARSC (2020)
Keyphrases
- particle filter
- multithreading
- simultaneous localization and mapping
- object tracking
- data association
- particle filtering
- visual tracking
- state space
- motion model
- appearance model
- kalman filter
- rao blackwellized particle filter
- state estimation
- matching algorithm
- mobile robot
- parallel computing
- bhattacharyya coefficient
- mean shift
- computational power
- image matching
- robust tracking
- observation model
- multiple objects
- extended kalman filter
- keypoints
- neural network
- bayesian filtering
- proposal distribution
- feature matching
- highly efficient
- search space
- distributed memory
- higher order
- search algorithm
- feature points
- fine grained