Efficient Multimodal Belief Propagation for Robust SLAM Using Clustering Based Reparameterization.
Seungwon ChoiTaewan KimPublished in: IROS (2021)
Keyphrases
- belief propagation
- graphical models
- message passing
- stereo matching
- graph cuts
- markov random field
- approximate inference
- markov networks
- loopy belief propagation
- factor graphs
- energy minimization
- pairwise
- energy function
- fixed point
- computer vision
- dynamic programming
- three dimensional
- stereo images
- expectation maximization
- preprocessing
- image processing