Vision-aided inertial navigation on an uncertain map using a particle filter.
Jason DurrieTristan GerritsenEric W. FrewStephen T. PledgiePublished in: ICRA (2009)
Keyphrases
- particle filter
- inertial navigation
- object tracking
- particle filtering
- visual tracking
- monte carlo
- appearance model
- state space
- state estimation
- motion model
- kalman filter
- mean shift
- maximum a posteriori
- observation model
- abrupt motion
- multiple hypothesis
- robust visual tracking
- multiple hypotheses
- computer vision
- sequential monte carlo
- likelihood function
- vision system
- multiple object tracking
- data association
- multiple objects
- rao blackwellized particle filter
- face tracking
- robust tracking
- extended kalman filter
- importance sampling
- simultaneous localization and mapping
- multiple targets
- target tracking
- search algorithm