Gaussian mixture models for probabilistic localization

Abstract

One of the key tasks during the realization of probabilistic approaches to localization is the design of a proper sensor model, that calculates the likelihood of a measurement given the current pose of the vehicle and the map of the environment. In the past, range sensors have become popular for mobile robot localization since they directly measure distance… (More)
DOI: 10.1109/ROBOT.2008.4543251

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