NDLI: Rao-Blackwellised PHD SLAM

Content Provider	IEEE Xplore Digital Library
Author	Mullane, J. Ba-Ngu Vo Adams, M.D.
Copyright Year	2010
Description	Author affiliation: School of Electrical & Electronic Engineering, University of Melbourne, Australia (Ba-Ngu Vo) \|\| school of Electrical & Electronic Engineering, Nanyang Technological University, Singapore (Mullane, J.; Adams, M.D.)
Abstract	This paper proposes a tractable solution to feature-based (FB) SLAM in the presence of data association uncertainty and uncertainty in the number of features. By modeling the feature map as a random finite set (RFS), a rigorous Bayesian formulation of the FB-SLAM problem that accounts for uncertainty in the number of features and data association is presented. As such, the joint posterior distribution of the set-valued map and vehicle trajectory is propagated forward in time as measurements arrive. A first order solution, coined the PHD-SLAM filter, is derived, which jointly propagates the posterior PHD or intensity function of the map and the posterior distribution of the trajectory of the vehicle. A Rao-Blackwellised implementation of the PHD-SLAM filter is proposed based on the Gaussian mixture PHD filter for the map and a particle filter for the vehicle trajectory. Simulated results demonstrate the merits of the proposed approach, particularly in situations of high clutter and data association ambiguity.
Starting Page	5410
Ending Page	5416
File Size	659030
Page Count	7
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509626
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Vehicles Trajectory Bayesian methods Filters Uncertainty Extraterrestrial measurements Intelligent robots Estimation error Time measurement
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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