Enhanced maximum likelihood grid map with reprocessing incorrect sonar measurements.
Kyoungmin LeeSe-Jin LeeMathias KölschWan Kyun ChungPublished in: Auton. Robots (2013)
Keyphrases
- maximum likelihood
- maximum a posteriori
- map estimation
- mobile robot
- em algorithm
- expectation maximization
- likelihood function
- parameter estimation
- maximum likelihood estimation
- additive noise
- sonar images
- gaussian distribution
- measurement noise
- neural network
- topological map
- autonomous underwater vehicle
- high resolution