GMM Registration: a Probabilistic scan matching approach for sonar-based AUV navigation.
Pau VialMiguel MalagónRicard SeguraNarcís PalomerasMarc CarrerasPublished in: ICRA (2023)
Keyphrases
- autonomous underwater vehicle
- autonomous underwater vehicles
- image matching
- matching process
- gaussian mixture model
- matching algorithm
- transformation parameters
- point matching
- image registration
- point pattern matching
- path planning
- affine transformation
- probabilistic model
- feature matching
- affine invariant
- icp algorithm
- uncertain data
- generative model
- point sets
- cooperative
- cross correlation
- obstacle avoidance
- pattern matching
- mixture model
- em algorithm
- expectation maximization
- maximum likelihood
- accurate registration
- intensity differences
- object matching
- gaussian mixture modeling
- background subtraction
- image guided
- deformation field
- gaussian mixture
- computer vision
- feature points
- mutual information
- mobile robot
- feature vectors
- bayesian networks
- feature extraction
- image segmentation