A Random-Finite-Set Approach to Bayesian SLAM
This paper proposes an integrated Bayesian frame work for feature-based simultaneous localization and map building (SLAM) in the general case of uncertain feature number and data association. By modeling the measurements and feature map as random finite sets (RFSs), a formulation of the feature-base...
| Main Authors: | , , , |
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| Format: | Journal Article |
| Published: |
IEEE Press
2011
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| Subjects: | |
| Online Access: | http://hdl.handle.net/20.500.11937/35643 |