Multi-robot pose graph localization and data association from unknown initial relative poses via expectation maximization.
Vadim IndelmanErik NelsonNathan MichaelFrank DellaertPublished in: ICRA (2014)
Keyphrases
- multi robot
- data association
- simultaneous localization and mapping
- expectation maximization
- mobile robot
- multi robot cooperative
- map building
- path planning
- initially unknown
- em algorithm
- visual tracking
- multi robot systems
- particle filter
- multiple targets
- target tracking
- object tracking
- multiple robots
- multi robot exploration
- motion model
- kalman filter
- topological map
- robot soccer
- pose estimation
- mobile robotics
- robotic systems
- multitarget tracking
- d objects
- multiple objects
- multi sensor
- body parts
- dynamic environments
- real robot
- mixture model
- robot teams
- generative model
- probabilistic model
- maximum likelihood
- mean shift
- multi robot coordination
- three dimensional