IEEE - Institute of Electrical and Electronics Engineers, Inc. - Rao-Blackwellised PHD SLAM

2010 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Mullane, J. ; Ba-Ngu Vo ; Adams, M.D.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2010
Conference Location: Anchorage, AK, USA, USA
Conference Date: 3 May 2010
Page(s): 5,410 - 5,416
ISBN (CD): 978-1-4244-5040-4
ISBN (Paper): 978-1-4244-5038-1
ISSN (CD): 1050-4729
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2010.5509626
Regular:

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... View More

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