Multi hypothesis Kalman Filter for indoor pedestrian navigation based on topological maps.
Julian LategahnThomas AxChristof RöhrigPublished in: PLANS (2016)
Keyphrases
- kalman filter
- topological map
- indoor environments
- simultaneous localization and mapping
- mobile robot
- kalman filtering
- outdoor environments
- robot navigation
- state estimation
- autonomous navigation
- extended kalman filter
- path planning
- object tracking
- particle filter
- data association
- motion parameters
- state space model
- particle filtering
- mean shift
- image processing
- general theory
- robotic systems
- cognitive architecture
- object detection
- multiscale
- feature selection
- adaptive kalman filter