A scan matching simultaneous localization and mapping algorithm based on particle filter.
Hui XiongYouping ChenXiaoping LiBing ChenJun ZhangPublished in: Ind. Robot (2016)
Keyphrases
- particle filter
- simultaneous localization and mapping
- kalman filter
- extended kalman filter
- proposal distribution
- observation model
- rao blackwellized particle filter
- information filter
- mobile robot
- dynamic environments
- likelihood function
- unscented kalman filter
- learning algorithm
- dynamic programming
- importance sampling
- data association
- object tracking
- state space
- search space
- search algorithm
- state estimation
- mobile robotics
- face tracking
- target tracking
- bhattacharyya coefficient