mirage

Rao-Blackwellised PHD SLAM.

DSpace/Manakin Repository

 

Search DR-NTU


Advanced Search Subject Search

Browse

My Account

Rao-Blackwellised PHD SLAM.

Show full item record

Title: Rao-Blackwellised PHD SLAM.
Author: Mullane, John.; Vo, Ba-Ngu.; Adams, Martin David.
Copyright year: 2010
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.
Subject: DRNTU::Engineering::Electrical and electronic engineering.
Type: Conference Paper
Conference name: IEEE International Conference on Robotics and Automation (2010 : Anchorage, Alaska, US)
School: School of Electrical and Electronic Engineering
Rights: © 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: [DOI: http://dx.doi.org/10.1109/ROBOT.2010.5509626].
Version: Published version

Files in this item

Files Size Format View
ICRA_10.pdf 488.3Kb PDF View/Open
   

DOI Query

- Get published version (via Digital Object Identifier)
   

This item appears in the following Collection(s)

Show full item record

Statistics

Total views

All Items Views
Rao-Blackwellised PHD SLAM. 294

Total downloads

All Bitstreams Views
ICRA_10.pdf 220

Top country downloads

Country Code Views
United States of America 66
China 56
Singapore 21
Russian Federation 16
Sri Lanka 10

Top city downloads

city Views
Mountain View 45
Beijing 27
Singapore 19
Peradeniya 10
Malek 4

Downloads / month

  2014-02 2014-03 2014-04 total
ICRA_10.pdf 0 0 4 4