Improvements in terrain-based road vehicle localization by initializing an Unscented Kalman Filter using Particle Filters.
Adam J. DeanJack W. LangelaanSean N. BrennanPublished in: ACC (2010)
Keyphrases
- 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