Localization for Mobile Robots using Panoramic Vision, Local Features and Particle Filter.
Henrik AndreassonAndré TreptowTom DuckettPublished in: ICRA (2005)
Keyphrases
- particle filter
- mobile robot
- rao blackwellized particle filter
- simultaneous localization and mapping
- visual tracking
- particle filtering
- kalman filter
- object tracking
- state estimation
- vision system
- state space
- computer vision
- appearance model
- mean shift
- data association
- robust tracking
- motion model
- color histogram
- path planning
- robust visual tracking
- target tracking
- importance sampling
- face tracking
- position information
- multiple cues
- sequential monte carlo
- feature detection
- multiple hypotheses