SLAM solution based on particle filter with outliers filtering in dynamic environments.
Fábio Silveira VidalAndre de Oliveira Palmerim BarcelosPaulo Fernando Ferreira RosaPublished in: ISIE (2015)
Keyphrases
- dynamic environments
- particle filter
- simultaneous localization and mapping
- mobile robot
- visual tracking
- bayesian filtering
- object tracking
- visual slam
- extended kalman filter
- particle filtering
- data association
- kalman filter
- proposal distribution
- state space
- state estimation
- path planning
- appearance model
- rao blackwellized particle filter
- motion model
- mean shift
- target tracking
- robust tracking
- optimal solution
- sequential monte carlo
- robust visual tracking
- real environment
- face tracking
- outlier detection
- machine learning
- changing environment
- abrupt motion
- computer vision
- mobile robotics
- importance sampling
- missing data
- observation model
- tracking framework