How Safe Is Particle Filtering-Based Localization for Mobile Robots? An Integrity Monitoring Approach.
Osama Abdul HafezMathieu JoergerMatthew SpenkoPublished in: IEEE Trans. Robotics (2024)
Keyphrases
- particle filtering
- mobile robot
- particle filter
- visual tracking
- simultaneous localization and mapping
- path planning
- object tracking
- human motion
- mean shift
- contour tracking
- kalman filter
- video tracking
- obstacle avoidance
- kalman filtering
- ego motion estimation
- state estimation
- human body tracking
- appearance model
- conditional density
- bayesian filtering
- indoor environments
- dynamic bayesian networks
- autonomous robots
- real time
- robust object tracking
- multi robot
- dynamic environments
- articulated hand
- mobile robotics
- video sequences
- tracking framework
- data association
- motion model
- autonomous navigation
- multiple targets
- proposal distribution
- articulated body
- real robot
- importance sampling
- three dimensional