LiDAR-OSM-Based Vehicle Localization in GPS-Denied Environments by Using Constrained Particle Filter.
Mahdi ElhousniZiming ZhangXinming HuangPublished in: Sensors (2022)
Keyphrases
- particle filter
- rao blackwellized particle filter
- simultaneous localization and mapping
- object tracking
- dead reckoning
- visual tracking
- particle filtering
- extended kalman filter
- state estimation
- kalman filter
- robust visual tracking
- gps data
- data association
- monte carlo
- motion model
- multiple object tracking
- state space
- appearance model
- sequential monte carlo
- urban areas
- dynamic environments
- abrupt motion
- robust tracking
- point cloud
- multiple hypotheses
- likelihood function
- importance sampling
- real environment
- multiple hypothesis
- mean shift
- position information
- face tracking
- tracking scheme
- autonomous robots
- proposal distribution
- mobile robot
- observation model
- global positioning system
- kalman filtering
- tracking accuracy
- image segmentation
- markov chain monte carlo
- urban environments
- target tracking
- structure from motion
- high resolution
- search algorithm
- optimal solution