An improved Gaussian mixture PHD SLAM algorithm

DOI10.13195/J.KZYJC.2013.1222MaRDI QIDQ5260094zbMATH OpenFDO

Authors Deli Yan, Yu Song, Yifei Kang, Yongduan Song

Publication date 29 June 2015

zbMATH Keywords

mobile robotunscented Kalman filterSLAM algorithmGaussian mixture probability hypothesis density

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Artificial intelligence for robotics (68T40) Automated systems (robots, etc.) in control theory (93C85)

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(6)

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• A FastSLAM algorithm based on the unscented filtering with adaptive selective resampling
• A PHD-SLAM method for mixed birth map information based on amplitude information
• Iterative mixture component pruning algorithm for Gaussian mixture PHD filter

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