GAPSLAM: Blending Gaussian Approximation and Particle Filters for Real-Time Non-Gaussian SLAM.
Qiangqiang HuangJohn J. LeonardPublished in: CoRR (2023)
Keyphrases
- particle filter
- real time
- simultaneous localization and mapping
- particle filtering
- visual tracking
- object tracking
- data association
- monte carlo
- gaussian distribution
- state estimation
- kalman filter
- importance sampling
- state space
- mean shift
- motion model
- likelihood function
- bayesian filtering
- appearance model
- maximum likelihood
- bayesian inference
- robust tracking
- pose estimation
- vision system
- abrupt motion
- observation model
- proposal distribution
- quasi monte carlo
- sequential monte carlo
- dynamic programming
- multiple object tracking
- gaussian mixture model
- video sequences
- high dimensional state space
- machine learning