Name
Abstract | ||
|---|---|---|
This paper proposes a tractable solution to feature-based (FB) SLAM in the presence of data association uncertainty and uncertainty in the number of features. By modeling the feature map as a random finite set (RFS), a rigorous Bayesian formulation of the FB-SLAM problem that accounts for uncertainty in the number of features and data association is presented. As such, the joint posterior distribution of the set-valued map and vehicle trajectory is propagated forward in time as measurements arrive. A first order solution, coined the PHD-SLAM filter, is derived, which jointly propagates the posterior PHD or intensity function of the map and the posterior distribution of the trajectory of the vehicle. A Rao-Blackwellised implementation of the PHD-SLAM filter is proposed based on the Gaussian mixture PHD filter for the map and a particle filter for the vehicle trajectory. Simulated results demonstrate the merits of the proposed approach, particularly in situations of high clutter and data association ambiguity. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/ROBOT.2010.5509626 | Robotics and Automation |
Keywords | Field | DocType |
Bayes methods,Gaussian distribution,SLAM (robots),particle filtering (numerical methods),probability,sensor fusion,Gaussian mixture probability hypothesis density filter,Rao-Blackwellised probability hypothesis density SLAM,data association ambiguity,data association uncertainty,feature map modeling,feature-based SLAM,joint posterior distribution,particle filter,probability hypothesis density-SLAM filter,random finite set,rigorous Bayesian formulation,set-valued map,tractable solution,vehicle trajectory | Pattern recognition,Clutter,Particle filter,Posterior probability,Sensor fusion,Gaussian,Artificial intelligence,Simultaneous localization and mapping,Mathematics,Trajectory,Bayesian probability | Conference |
Volume | Issue | ISSN |
2010 | 1 | 1050-4729 E-ISBN : 978-1-4244-5040-4 |
ISBN | Citations | PageRank |
978-1-4244-5040-4 | 14 | 1.22 |
References | Authors | |
8 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mullane, J. | 1 | 107 | 5.19 |
| Ba-Ngu Vo | 2 | 457 | 22.45 |
| Martin David Adams | 3 | 14 | 1.22 |