An application of Kullback-Leibler divergence to active SLAM and exploration with Particle Filters.
Luca CarloneJingjing DuMiguel Efrain Kaouk NgBasilio BonaMarina IndriPublished in: IROS (2010)
Keyphrases
- particle filter
- kullback leibler divergence
- simultaneous localization and mapping
- mutual information
- information theoretic
- object tracking
- particle filtering
- visual tracking
- information theory
- data association
- kalman filter
- probability density function
- distance measure
- state space
- bayesian filtering
- state estimation
- appearance model
- motion model
- mean shift
- marginal distributions
- video sequences
- probability density
- mobile robot
- proposal distribution
- feature vectors