Bearing-only SLAM Using a SPRT Based Gaussian Sum Filter

  title={Bearing-only SLAM Using a SPRT Based Gaussian Sum Filter},
  author={Ngai Ming Kwok and Gamini Dissanayake and Quang Phuc Ha},
  journal={Proceedings of the 2005 IEEE International Conference on Robotics and Automation},
Use of a Gaussian Sum filter (GSF) to efficiently solve the initialisation problem in bearing-only simultaneous localisation and mapping (SLAM) is the main contribution of this paper. When information about the range is not available, the initial probability density function (pdf) of a landmark in the environment can not be represented using a Gaussian. The GSF is an attractive candidate for estimation in this scenario as it can deal with arbitrary pdfs represented as sets of Gaussians. However… CONTINUE READING
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