Item


SLAM with SC-PHD filters: an underwater vehicle application

The random finite-set formulation for multiobject estimation provides a means of estimating the number of objects in cluttered environments with missed detections within a unified probabilistic framework. This methodology is now becoming the dominant mathematical framework within the sensor fusion community for developing multiple-target tracking algorithms. These techniques are also gaining traction in the field of feature-based simultaneous localization and mapping (SLAM) for mobile robotics. Here, we present one such instance of this approach with an underwater vehicle using a hierarchical multiobject estimation method for estimating both landmarks and vehicle position

© IEEE Robotics and Automation Magazine, 2014, vol. 21, p. 38-45

Institute of Electrical and Electronics Engineers (IEEE)

Author: Lee, Chee Sing
Nagappa, Sharad
Palomeras Rovira, Narcís
Clark, Daniel E.
Salvi, Joaquim
Date: 2014
Abstract: The random finite-set formulation for multiobject estimation provides a means of estimating the number of objects in cluttered environments with missed detections within a unified probabilistic framework. This methodology is now becoming the dominant mathematical framework within the sensor fusion community for developing multiple-target tracking algorithms. These techniques are also gaining traction in the field of feature-based simultaneous localization and mapping (SLAM) for mobile robotics. Here, we present one such instance of this approach with an underwater vehicle using a hierarchical multiobject estimation method for estimating both landmarks and vehicle position
Format: application/pdf
ISSN: 1070-9932
Document access: http://hdl.handle.net/10256/10211
Language: eng
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Collection: Reproducció digital del document publicat a: http://dx.doi.org/10.1109/MRA.2014.2310132
Articles publicats (D-ATC)
info:eu-repo/grantAgreement/EC/FP7/288273
Is part of: © IEEE Robotics and Automation Magazine, 2014, vol. 21, p. 38-45
Rights: Tots els drets reservats
Subject: Vehicles submergibles
Submersibles
Algorismes computacionals
Computer algorithms
Robots mòbils
Mobile robots
Title: SLAM with SC-PHD filters: an underwater vehicle application
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

Subjects

Authors