Factor Graph Modeling of Rigid-body Dynamics for Localization, Mapping, and Parameter Estimation of a Spinning Object in Space.
Brent E. TweddleAlvar Saenz-OteroJohn J. LeonardDavid W. MillerPublished in: J. Field Robotics (2015)
Keyphrases
- parameter estimation
- rigid body
- factor graphs
- approximate inference
- rigid body motion
- least squares
- markov random field
- motion parameters
- maximum likelihood
- model selection
- random fields
- belief propagation
- parameter learning
- message passing
- em algorithm
- d objects
- expectation maximization
- exact inference
- dynamic bayesian networks
- machine learning
- clustering algorithm
- graphical models
- image segmentation
- similarity measure
- moving objects
- optical flow
- latent variables