Extending Bayesian RFS SLAM to multi-vehicle SLAM
In this paper we present a novel solution to the Multi-Vehicle SLAM (MVSLAM) problem by extending the random finite set (RFS) based SLAM filter framework using two recently developed multi-sensor information fusion approaches. Our solution is based on the modelling of the measurements and the landma...
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| Main Authors: | , , , |
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| 其他作者: | |
| 格式: | Conference or Workshop Item |
| 語言: | English |
| 出版: |
2013
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| 主題: | |
| 在線閱讀: | https://hdl.handle.net/10356/96989 http://hdl.handle.net/10220/11718 |
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| 總結: | In this paper we present a novel solution to the Multi-Vehicle SLAM (MVSLAM) problem by extending the random finite set (RFS) based SLAM filter framework using two recently developed multi-sensor information fusion approaches. Our solution is based on the modelling of the measurements and the landmark map as RFSs and factorizing the MVSLAM posterior into a product of the joint vehicle trajectories posterior and the landmark map posterior conditioned the vehicle trajectories. The joint vehicle trajectories posterior is propagated using a particle filter while the landmark map posterior conditioned on the vehicle trajectories is propagated using a Gaussian Mixture (GM) implementation of the probability hypothesis density (PHD) filter. |
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