Rao-Blackwellised PHD SLAM

• Main Authors: Mullane, John, Vo, Ba-Ngu, Adams, Martin David
• Other Authors: School of Electrical and Electronic Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2011
• Subjects: DRNTU::Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/90756; http://hdl.handle.net/10220/6535
• Institution: Nanyang Technological University

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 probl...