The datum particle filter: Localization for objects with coupled geometric datums.
Shiyuan ChenBrad SaundReid G. SimmonsPublished in: IROS (2017)
Keyphrases
- particle filter
- multiple objects
- rao blackwellized particle filter
- object tracking
- visual tracking
- particle filtering
- state estimation
- kalman filter
- simultaneous localization and mapping
- motion model
- appearance model
- object appearance
- data association
- likelihood function
- sequential monte carlo
- monte carlo
- mean shift
- robust visual tracking
- robust tracking
- observation model
- importance sampling
- target tracking
- multiple object tracking
- geometric constraints
- d objects
- state space
- mobile robot
- multiple hypotheses
- moving object tracking
- extended kalman filter
- proposal distribution
- optical flow
- moving objects
- search algorithm
- appearance variations
- object segmentation
- tracking accuracy
- tracking scheme
- multiple hypothesis