BOEM-SLAM: A Block Online EM Algorithm for the Visual-Inertial SLAM Backend.
Tsang-Kai ChangAlexandra PogueAnkur MehtaPublished in: IROS (2022)
Keyphrases
- em algorithm
- back end
- expectation maximization
- mobile robot
- mixture model
- maximum likelihood
- gaussian mixture model
- parameter estimation
- particle filter
- likelihood function
- user friendly
- generative model
- incomplete data
- gaussian mixture
- maximum likelihood estimation
- expectation maximisation
- penalized likelihood
- data management
- mixture modeling
- building blocks
- data types
- maximum a posteriori
- probability density function
- probabilistic model
- data association
- log likelihood
- visual features
- maximum likelihood estimates
- computer vision
- object recognition
- model based clustering
- inertial sensors
- image processing