Global Robot Localization with Random Finite Set Statistics

Bishop, Adrian; Jensfelt, Patric

Global Robot Localization with Random Finite Set Statistics

Date

2010

Authors

Bishop, Adrian

Jensfelt, Patric

Publisher

Institute of Electrical and Electronics Engineers (IEEE Inc)

Abstract

We re-examine the problem of global localization of a robot using a rigorous Bayesian framework based on the idea of random finite sets. Random sets allow us to naturally develop a complete model of the underlying problem accounting for the statistics of

Keywords

Keywords: Bayesian frameworks; Bayesian solution; Data association; First-order; Global localization; Missed detections; Multiple-hypothesis localization; PHD filtering; Probability hypothesis density filter; Random finite sets; Random set; Random-set-based localiz Multiple-hypothesis localization; PHD filtering; Random-set-based localization; Robot localization

URI

http://hdl.handle.net/1885/62802

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ANU Research Publications

Source

Proceedings of Fusion 2010

Type

Conference paper

Restricted until

2037-12-31

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01_Bishop_Global_Robot_Localization_with_2010.pdf (189.35 KB)

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Global Robot Localization with Random Finite Set Statistics

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