Robust Efficient Localization of Robots in Pipe Networks using a Particle Filter for Hybrid Metric-Topological Space.
Rob WorleySean R. AndersonPublished in: ECMR (2021)
Keyphrases
- particle filter
- rao blackwellized particle filter
- robust tracking
- long video sequences
- particle filtering
- multiple hypothesis
- visual tracking
- object tracking
- kalman filter
- state estimation
- monte carlo
- likelihood function
- state space
- motion model
- multiple hypotheses
- mobile robot
- robust visual tracking
- simultaneous localization and mapping
- target tracking
- mean shift
- importance sampling
- appearance model
- multiple object tracking
- object tracking algorithm
- partial occlusion
- face tracking
- observation model
- data association
- sequential monte carlo
- moving object tracking
- machine learning
- multiple cues
- tracking framework
- articulated body
- topological map
- computer vision