Online Stochastic Variational Gaussian Process Mapping for Large-Scale Bathymetric SLAM in Real Time.
Ignacio TorrobaMarco CellaAldo TeranNiklas RollebergJohn FolkessonPublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- gaussian process
- real time
- gaussian processes
- gaussian process regression
- latent variables
- regression model
- latent space
- approximate inference
- bayesian framework
- sparse approximations
- semi supervised
- model selection
- gaussian process classification
- hyperparameters
- covariance function
- variational methods
- gaussian process models
- marginal likelihood
- closed form
- non stationary
- particle filter
- data association
- image segmentation
- loop closure
- expectation propagation
- clustering algorithm
- noisy images
- learning process
- free energy
- higher order
- em algorithm