An ant-based filtering random-finite-set approach to simultaneous localization and mapping

DOI10.2478/AMCS-2018-0039zbMath1485.93389OpenAlexW2895748709WikidataQ129150827 ScholiaQ129150827MaRDI QIDQ1797881

Benlian Xu, Demeng Li, Mingli Lu, Mingyue Li, Ji-Hong Zhu

Publication date: 22 October 2018

Published in: International Journal of Applied Mathematics and Computer Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.2478/amcs-2018-0039

zbMATH Keywords

probability hypothesis densityrandom finite setsant colonysimultaneous localization and mapping (SLAM)

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Approximation methods and heuristics in mathematical programming (90C59) Automated systems (robots, etc.) in control theory (93C85) Problem solving in the context of artificial intelligence (heuristics, search strategies, etc.) (68T20)

Uses Software

• FastSLAM
• MonoSLAM

Cites Work

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• Efficient generation of 3D surfel maps using RGB-D sensors
• Ant estimator with application to target tracking
• Random finite sets for robot mapping and SLAM. New concepts in autonomous robotic map representations.
• The nonlinearity structure of point feature SLAM problems with spherical covariance matrices
• Consistency of SLAM-EKF algorithms for indoor environments

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