Particle filter refinement based on clustering procedures for high-dimensional localization and mapping systems.
André Silva Pinto de AguiarFilipe Neves dos SantosHéber Miguel Placido SobreiraJosé Boaventura CunhaArmando Jorge Miranda de SousaPublished in: Robotics Auton. Syst. (2021)
Keyphrases
- particle filter
- high dimensional
- particle filtering
- rao blackwellized particle filter
- object tracking
- state estimation
- kalman filter
- visual tracking
- robust visual tracking
- multiple object tracking
- motion model
- simultaneous localization and mapping
- target tracking
- appearance model
- clustering algorithm
- observation model
- face tracking
- data association
- high dimensional data
- state space
- data points
- parameter space
- likelihood function
- k means
- low dimensional
- dynamic programming
- video sequences
- high dimensional state space
- multiple hypothesis
- moving object tracking
- multiple target tracking
- multiple hypotheses
- sequential monte carlo
- estimation problems
- complex systems
- importance sampling
- outlier detection