Bathymetric particle filter SLAM using trajectory maps.
Stephen BarkbyStefan B. WilliamsOscar PizarroMichael V. JakubaPublished in: Int. J. Robotics Res. (2012)
Keyphrases
- particle filter
- simultaneous localization and mapping
- particle filtering
- object tracking
- visual tracking
- state space
- data association
- multiple hypotheses
- kalman filter
- motion model
- likelihood function
- monte carlo
- mean shift
- robust tracking
- appearance model
- state estimation
- multiple objects
- target tracking
- robust visual tracking
- observation model
- proposal distribution
- constant velocity
- face tracking
- importance sampling
- computer vision
- abrupt motion
- sequential monte carlo
- reinforcement learning