Rao-Blackwellised PHD SLAM

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2010, Pages 5410-5416

  Mullane, John ^a   Vo, Ba Ngu ^b   Adams, Martin D ^a  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

^b UNIVERSITY OF MELBOURNE   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

BAYESIAN FORMULATION; DATA ASSOCIATION; FEATURE MAP; FEATURE-BASED; FIRST ORDER; GAUSSIAN MIXTURES; INTENSITY FUNCTIONS; PARTICLE FILTER; PHD FILTERS; POSTERIOR DISTRIBUTIONS; RANDOM FINITE SETS; SET-VALUED MAP; SIMULATED RESULTS; VEHICLE TRAJECTORIES;

SET THEORY; SIGNAL FILTERING AND PREDICTION; TARGET TRACKING; TRAJECTORIES;

ROBOTICS;

EID: 77955788920     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2010.5509626     Document Type: Conference Paper

References (18)

1. R. Smith, M. Self, and P. Cheeseman. Estimating uncertain spatial relationships in robotics. Autonomous Robot Vehicles, pages 167-193, 1990.
2. G. Dissanayake, P. Newman, H.F. Durrant-Whyte, S. Clark, and M. Csorba. A solution to the simultaneous localization and map building (SLAM) problem. IEEE Transactions on Robotic and Automation, 17(3):229-241, June 2001. (Pubitemid 32829731)
3. M. Montemerlo, S. Thrun, and B. Siciliano. FastSLAM: A Scalable Method for the Simultaneous Localization and Mapping Problem in Robotics. Springer, 2007.
4. W.S. Wijesoma, L.D.L Perera, and M.D. Adams. Toward multidimensional assignment data association in robot localization and mapping. IEEE Transactions on Robotics, 22(2):350-365, April 2006.
5. D. Makarsov and H.F. Durrant-Whyte. Mobile vehicle navigation in unknown environments: a multiple hypothesis approach. IEE Proceedings of Contr. Theory Applict., vol. 142, July 1995.
6. S. Thrun. Particle filter in robotics. In Uncertainty in AI (UAI), 2002.
7. J. Niera and J.D. Tardos. Data association in stochastic mapping using the joint compatibility test. IEEE Transactions on Robotics and Automation, 17(6):890-897, December 2001.
8. J. Mullane, B.N. Vo, M. Adams, and W.S. Wijesoma. A random set formulation for bayesian slam. In proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, France, September 2008.
9. J. Mullane, B.N. Vo, M. Adams, and W.S. Wijesoma. A random set approach to slam. In proceedings of the IEEE International Conference on Robotics and Automation (ICRA) workshop on Visual Mapping and Navigation in Outdoor Environments, Japan, May 2009.
10. R. Mahler. Multi-target bayes filtering via first-order multi-target moments. IEEE Transactions on AES, 4(39):1152-1178, October 2003.
11. R. Mahler. Statistical Multisource Multitarget Information Fusion. Artech House, 2007.
12. B.N. Vo, S. Singh, and A. Doucet. Sequential monte carlo methods for multi-target filtering with random finite sets. IEEE Transactions on Aerospace and Electronic Systems, 41(4):1224-1245, October 2005.
13. D. Stoyan, W.S Kendall, and J. Mecke. Stochastic Geometry and Its Applications. John Wiley and Sons, Inc, New York, second edition, 1995.
14. R. Mahler. Implementation and application of PHD/CPHD filters. In Int'l Conf. on Information Fusion, Seattle, WA, 2009.
15. B.N. Vo and W.K. Ma. The gaussian mixture probability hypothesis density filter. IEEE Transactions on Signal Processing, 54(11):4091-4104, November 2006. (Pubitemid 44637744)
16. D. Schuhmacher, B.T. Vo, and B.N. Vo. A consistent metric for performance evaluation of multi-object filters. IEEE Transactions on Signal Processing, 86(8):3447-3457, 2008.
17. B.T. Vo, B.N. Vo, and A. Cantoni. Analytic implementations of the cardinalized probability hypothesis density filter. IEEE Transactions on Signal Processing, 55(7):3553-3567, July 2007. (Pubitemid 47018838)
18. B.T. Vo, B.N. Vo, and A. Cantoni. The cardinality balanced multitarget multi-bernoulli and its implementations. IEEE Transactions on Signal Processing, 57(2):409-423, February 2009.