Robot Localization in a Pipe Network using a Particle Filter with Error Detection and Recovery in a Hybrid Metric-Topological Space.
Rob WorleySean R. AndersonPublished in: MFI (2021)
Keyphrases
- particle filter
- error detection
- topological map
- robot localization
- simultaneous localization and mapping
- error correction
- object tracking
- particle filtering
- kalman filter
- visual tracking
- mobile robot
- mean shift
- motion model
- fault tolerance
- data association
- state estimation
- state space
- appearance model
- robot navigation
- rao blackwellized particle filter
- robust tracking
- observation model
- search space
- peer to peer
- d scene
- face tracking
- dynamic programming
- wireless sensor networks
- vision system
- general theory
- proposal distribution
- reinforcement learning