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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)

Autor: Lee, Chee Sing
Nagappa, Sharad
Palomeras Rovira, Narcís
Clark, Daniel E.
Salvi, Joaquim
Data: 2014
Resum: 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
Accés al document: http://hdl.handle.net/10256/10211
Llenguatge: eng
Editor: Institute of Electrical and Electronics Engineers (IEEE)
Col·lecció: 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
És part de: © IEEE Robotics and Automation Magazine, 2014, vol. 21, p. 38-45
Drets: Tots els drets reservats
Matèria: Vehicles submergibles
Submersibles
Algorismes computacionals
Computer algorithms
Robots mòbils
Mobile robots
Títol: SLAM with SC-PHD filters: an underwater vehicle application
Tipus: info:eu-repo/semantics/article
Repositori: DUGiDocs

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