Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters

Abstract

Recently, Rao-Blackwellized particle filters (RBPF) have been introduced as an effective means to solve the simultaneous localization and mapping problem. This approach uses a particle filter in which each particle carries an individual map of the environment. Accordingly, a key question is how to reduce the number of particles. In this paper, we present… (More)
DOI: 10.1109/TRO.2006.889486

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