Localization inside a populated parking garage by using particle filters with a map of the static environment.
Steffen WahlPeter SchlumbergerRaúl RojasMartin StampflePublished in: Intelligent Vehicles Symposium (2015)
Keyphrases
- search space
- particle filter
- state space
- map building
- particle filtering
- visual tracking
- simultaneous localization and mapping
- object tracking
- kalman filter
- multiple object tracking
- mean shift
- state estimation
- mobile robot
- importance sampling
- data association
- likelihood function
- optimal solution
- sequential monte carlo
- bayesian filtering
- multiple objects
- multi robot
- robust tracking
- mobile robotics
- motion model
- estimation problems
- monte carlo
- bayesian networks
- indoor environments
- maximum a posteriori
- appearance model
- observation model
- markov chain
- machine learning