Localization of indoor robot based on particle filter with EKF proposal distribution.
Yue XiaoYongsheng OuWei FengPublished in: CIS/RAM (2017)
Keyphrases
- proposal distribution
- simultaneous localization and mapping
- particle filter
- indoor environments
- mobile robot
- extended kalman filter
- rao blackwellized particle filter
- kalman filter
- data association
- particle filtering
- visual tracking
- mobile robotics
- object tracking
- dynamic environments
- robot navigation
- unscented kalman filter
- state space
- likelihood function
- path planning
- monte carlo
- mean shift
- motion model
- importance sampling
- target tracking
- real environment
- multiple targets
- multiple objects
- observation model
- computer vision