GAPSLAM: Blending Gaussian Approximation and Particle Filters for Real-Time Non-Gaussian SLAM.

Qiangqiang Huang John J. Leonard

Published 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