A Gaussian approximation of the posterior for digital map-based localization using a particle filter.
André PrzewodowskiFernando Santos OsórioPublished in: ITSC (2021)
Keyphrases
- particle filter
- proposal distribution
- rao blackwellized particle filter
- simultaneous localization and mapping
- markov chain monte carlo
- object tracking
- importance sampling
- particle filtering
- kalman filter
- motion model
- density function
- visual tracking
- state space
- multiple hypotheses
- appearance model
- face tracking
- monte carlo
- state estimation
- likelihood function
- robust tracking
- data association
- robust visual tracking
- bayesian inference
- observation model
- multiple object tracking
- posterior distribution
- maximum a posteriori
- extended kalman filter
- probability distribution
- tracking accuracy
- posterior probability
- multiple hypothesis
- sequential monte carlo
- target tracking
- feature tracking
- kalman filtering
- closed form
- maximum likelihood
- mobile robot
- position information
- search algorithm
- multiple objects
- gaussian mixture model
- bhattacharyya coefficient
- moving object tracking
- probabilistic model
- abrupt motion