Exactly Rao-Blackwellized unscented particle filters for SLAM.
Chanki KimHyoungkyun KimWan Kyun ChungPublished in: ICRA (2011)
Keyphrases
- particle filter
- simultaneous localization and mapping
- particle filtering
- particle filtering algorithm
- object tracking
- visual tracking
- kalman filter
- data association
- state space
- motion model
- likelihood function
- proposal distribution
- state estimation
- mean shift
- monte carlo
- appearance model
- multiple object tracking
- importance sampling
- extended kalman filter
- sequential monte carlo
- bayesian filtering
- kalman filtering
- observation model
- robust tracking
- mobile robot
- markov chain monte carlo
- multiple objects
- abrupt motion
- robot navigation