Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/90756
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dc.contributor.authorMullane, Johnen
dc.contributor.authorVo, Ba-Nguen
dc.contributor.authorAdams, Martin Daviden
dc.date.accessioned2011-01-12T09:03:00Zen
dc.date.accessioned2019-12-06T17:53:24Z-
dc.date.available2011-01-12T09:03:00Zen
dc.date.available2019-12-06T17:53:24Z-
dc.date.copyright2010en
dc.date.issued2010en
dc.identifier.citationMullane, J., Vo, B. N., & Adams, M. D. (2010). Rao-Blackwellised PHD SLAM. IEEE International Conference on Robotics and Automation, 5410-5416.en
dc.identifier.issn1050-4729en
dc.identifier.urihttps://hdl.handle.net/10356/90756-
dc.description.abstractThis 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.en
dc.format.extent8 p.en
dc.language.isoenen
dc.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].en
dc.subjectDRNTU::Engineering::Electrical and electronic engineeringen
dc.titleRao-Blackwellised PHD SLAMen
dc.typeConference Paperen
dc.contributor.schoolSchool of Electrical and Electronic Engineeringen
dc.contributor.conferenceIEEE International Conference on Robotics and Automation (2010 : Anchorage, Alaska, US)en
dc.identifier.doi10.1109/ROBOT.2010.5509626en
dc.description.versionPublished versionen
dc.identifier.rims154605en
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