Simultaneous Localization and Mapping of Subterranean Voids with Gaussian Mixture Models.
Wennie TabibNathan MichaelPublished in: FSR (2019)
Keyphrases
- gaussian mixture model
- simultaneous localization and mapping
- mobile robot
- dynamic environments
- information filter
- kalman filter
- particle filter
- indoor environments
- mixture model
- mobile robotics
- data association
- feature vectors
- loop closing
- maximum likelihood
- robot navigation
- speaker recognition
- expectation maximization
- density estimation
- background subtraction
- covariance matrices
- probability density function
- em algorithm
- clustering algorithm
- probabilistic model
- path planning
- mean shift