A UWB-Ego-Motion Particle Filter for Indoor Pose Estimation of a Ground Robot Using a Moving Horizon Hypothesis.
Yuri DurodiéThomas DecosterBen Van HerbruggenJono Vanhie-Van GerwenEli De PoorterAdrian MunteanuBram VanderborghtPublished in: Sensors (2024)
Keyphrases
- pose estimation
- particle filter
- ego motion
- position and orientation
- simultaneous localization and mapping
- indoor environments
- field of view
- moving camera
- object tracking
- mobile robot
- visual tracking
- stereo camera
- d scene
- feature points
- motion model
- motion parameters
- multi camera
- camera motion
- particle filtering
- human body
- image sequences
- kalman filter
- computer vision
- d objects
- data association
- optical flow
- mean shift
- vision system
- state space
- multiple cameras
- scene structure
- appearance model
- robust estimation
- dynamic scenes
- stereo pair
- motion field
- multiple objects
- body parts
- depth information
- mobile robotics
- moving objects
- motion detection
- flow field
- path planning
- optic flow
- video camera
- machine learning
- single image
- velocity field
- video sequences
- reinforcement learning
- extended kalman filter