Particle Smoother-Based Landmark Mapping for the SLAM Method of an Indoor Mobile Robot with a Non-Gaussian Detection Model.
Jun WangYasutake TakahashiPublished in: J. Sensors (2019)
Keyphrases
- mobile robot
- detection method
- mathematical model
- statistical model
- prior knowledge
- probabilistic model
- modeling method
- evaluation method
- input data
- prediction model
- gaussian distribution
- em algorithm
- kalman filter
- indoor environments
- theoretical analysis
- detection algorithm
- cost function
- topological map
- objective function
- linear model
- energy function
- optimization method
- parameter estimation
- similarity measure
- autoregressive
- object detection
- moving objects
- error accumulation
- landmark extraction