A Random-Finite-Set Approach to Bayesian SLAM

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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...

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Bibliographic Details
Main Authors:	Mullane, J., Vo, Ba-Ngu, Adams, M., Vo, Ba Tuong
Format:	Journal Article
Published:	IEEE Press 2011
Subjects:	point process probability hypothesis density (PHD) Bayesian simultaneous localization and mapping (SLAM) random finite set (RFS) feature-based map
Online Access:	http://hdl.handle.net/20.500.11937/35643

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