GAPSLAM: Blending Gaussian Approximation and Particle Filters for Real-Time Non-Gaussian SLAM.
Qiangqiang HuangJohn J. LeonardPublished in: IROS (2023)
Keyphrases
- particle filter
- real time
- object tracking
- simultaneous localization and mapping
- importance sampling
- particle filtering
- visual tracking
- data association
- monte carlo
- kalman filter
- appearance model
- motion model
- mean shift
- state estimation
- gaussian distribution
- likelihood function
- multiple object tracking
- state space
- bayesian filtering
- robust tracking
- observation model
- sequential monte carlo
- maximum likelihood
- extended kalman filter
- bayesian inference
- abrupt motion
- multiple objects
- density function
- estimation problems
- human motion
- pose estimation
- computer vision