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Improvements in terrain-based road vehicle localization by initializing an Unscented Kalman Filter using Particle Filters.
Adam J. Dean
Jack W. Langelaan
Sean N. Brennan
Published in:
ACC (2010)
Keyphrases
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unscented kalman filter
particle filter
simultaneous localization and mapping
state estimation
visual tracking
extended kalman filter
kalman filter
particle filtering
proposal distribution
object tracking
dynamic model
mean shift
monte carlo
likelihood function
mobile robot
data association
dynamic systems
position and orientation
robust tracking
state space
observation model
appearance model
inertial sensors
motion model
kalman filtering
stereo camera
importance sampling
dynamic environments
indoor environments
learning algorithm
field of view
three dimensional