Robust particle filter localization by sampling from non-corrupted window with incomplete map.
Jung-Suk LeeWan Kyun ChungPublished in: IROS (2008)
Keyphrases
- particle filter
- sequential monte carlo
- monte carlo
- rao blackwellized particle filter
- proposal distribution
- robust tracking
- importance sampling
- visual tracking
- particle filtering
- multiple hypothesis
- object tracking
- simultaneous localization and mapping
- mean shift
- state estimation
- multiple hypotheses
- markov chain monte carlo
- kalman filter
- motion model
- likelihood function
- object tracking algorithm
- tracking framework
- state space
- data association
- appearance model
- multiple cues
- partial occlusion
- observation model
- long video sequences
- face tracking
- multiple object tracking
- moving object tracking
- maximum a posteriori
- deformable objects
- robust visual tracking
- multiple objects
- machine learning
- multiple target tracking
- bhattacharyya coefficient
- parameter space
- sample size
- high dimensional state space
- mobile robot