CRF-Filters: Discriminative Particle Filters for Sequential State Estimation

Abstract

Particle filters have been applied with great success to various state estimation problems in robotics. However, particle filters often require extensive parameter tweaking in order to work well in practice. This is based on two observations. First, particle filters typically rely on independence assumptions such as "the beams in a laser scan are… (More)
DOI: 10.1109/ROBOT.2007.363957

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