Experimental comparison of EKF and Constraint Manifold particle Filter for robot localization.
Frédéric ChausseSeung-Min BaekSebastien BonnetRoland ChapuisJean-Pierre DérutinPublished in: MFI (2008)
Keyphrases
- particle filter
- experimental comparison
- simultaneous localization and mapping
- robot localization
- extended kalman filter
- kalman filter
- object tracking
- visual tracking
- particle filtering
- data association
- proposal distribution
- mean shift
- motion model
- mobile robot
- state estimation
- feature selection
- state space
- appearance model
- unscented kalman filter
- multiple objects
- observation model
- rao blackwellized particle filter
- topological map
- face tracking
- robust tracking
- object recognition
- mobile robotics
- kalman filtering
- target tracking
- indoor environments
- search algorithm