Amortized constant time state estimation in Pose SLAM and hierarchical SLAM using a mixed Kalman-information filter.
Viorela IlaJosep M. PortaJuan Andrade-CettoPublished in: Robotics Auton. Syst. (2011)
Keyphrases
- simultaneous localization and mapping
- information filter
- kalman filter
- state estimation
- kalman filtering
- particle filter
- extended kalman filter
- visual odometry
- simultaneous localization and map building
- object tracking
- mobile robot
- motion parameters
- visual tracking
- particle filtering
- pose estimation
- data association
- map building
- indoor environments
- appearance model
- mean shift
- mobile robotics
- state space
- multiple objects
- position and orientation
- infrared
- graph cuts
- object recognition