Generalizing corrective gradient refinement in RBPF for occupancy grid LIDAR SLAM.
Kandith WongsuwanKanjanapan SukvichaiPublished in: ROBIO (2017)
Keyphrases
- particle filter
- simultaneous localization and mapping
- bayesian filtering
- mobile robot
- particle filtering
- object and scene recognition
- visual slam
- proposal distribution
- visual tracking
- edge detection
- gradient information
- lidar data
- gradient direction
- refinement process
- kalman filter
- monocular slam
- indoor environments
- data association
- mobile robotics
- object tracking
- state space
- visual odometry
- dynamic environments
- point cloud
- sequential monte carlo
- gradient method
- motion model
- search space