An RFS theoretic for Bayesian feature-based robotic mapping
Estimating a FB map requires the joint propagation of the FB map density encapsulating uncertainty in feature number and location. This chapter addresses the joint propagation of the FB map density and leads to an optimal map estimate in the presence of unknown map size, spurious measurements, featu...
| Main Authors: | , , , |
|---|---|
| Format: | Book Chapter |
| Published: |
2011
|
| Online Access: | http://hdl.handle.net/20.500.11937/60053 |