Improved techniques for grid mapping with Rao-Blackwellized particle filters

IEEE Transactions on Robotics

Volumn 23, Issue 1, 2007, Pages 34-46

  Grisetti, Giorgio ^a,b   Stachniss, Cyrill ^a,c   Burgard, Wolfram ^a  

^a UNIVERSITY OF FREIBURG   (Germany)

^b SAPIENZA UNIVERSITY OF ROME   (Italy)

^c ETH ZURICH   (Switzerland)

Author keywords

Adaptive resampling; Improved proposal; Motion model; Rao Blackwellized particle filter (RBPF); Simultaneous localization and mapping (SLAM)

Indexed keywords

GRID COMPUTING; MOBILE ROBOTS; MOTION PLANNING;

GRID MAPS; RAO-BLACKWELLIZED PARTICLE FILTER; SIMULTANEOUS LOCALIZATION AND MAPPING;

ADAPTIVE FILTERS;

EID: 33947422034     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2006.889486     Document Type: Article

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