Rao-Blackwellised RFS Bayesian SLAM
This chapter proposes an alternative Bayesian framework for feature-based SLAM, again in the general case of uncertain feature number and data association. As in Chapter 5, a first order solution, coined the probability hypothesis density (PHD) SLAM filter, is used, which jointly propagates the post...
| Main Authors: | , , , |
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| Format: | Book Chapter |
| Published: |
2011
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| Online Access: | http://hdl.handle.net/20.500.11937/60486 |