RBPF-MSIS: Toward Rao-Blackwellized Particle Filter SLAM for Autonomous Underwater Vehicle With Slow Mechanical Scanning Imaging Sonar.
Ling ChenAolei YangHuosheng HuWasif NaeemPublished in: IEEE Syst. J. (2020)
Keyphrases
- autonomous underwater vehicle
- rao blackwellized particle filter
- particle filter
- simultaneous localization and mapping
- object tracking
- mobile robot
- visual tracking
- particle filtering
- image processing
- kalman filter
- single shot
- state space
- motion model
- data association
- mean shift
- proposal distribution
- imaging systems
- scan data
- image analysis
- appearance model
- medical imaging
- structured light
- synthetic aperture sonar
- obstacle avoidance
- sequential monte carlo
- visual slam
- bayesian filtering
- loop closure
- medical images
- loop closing
- graph cuts