Extended target tracking using PHD filters (2012)
Abstract / truncated to 115 words
The world in which we live is becoming more and more automated, exemplified by the numerous robots, or autonomous vehicles, that operate in air, on land, or in water. These robots perform a wide array of different tasks, ranging from the dangerous, such as underground mining, to the boring, such as vacuum cleaning. In common for all different robots is that they must possess a certain degree of awareness, both of themselves and of the world in which they operate. This thesis considers aspects of two research problems associated with this, more specifically the Simultaneous Localization and Mapping (SLAM) problem and the Multiple Target Tracking (MTT) problem. The SLAM problem consists of having the robot ... toggle 20 keywordsplace recognition – loop closure – slam – robotics – learning – target tracking – extended target – phd filter – random set – random matrix – gamma distribution – gaussian distribution – wishart distribution – inverse wishart distribution – mixture reduction – measurement rate – target spawning – target merge – target combination – prediction
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