Incremental RANSAC for online relocation in large dynamic environments

@article{Tanaka2006IncrementalRF,
  title={Incremental RANSAC for online relocation in large dynamic environments},
  author={Kanji Tanaka and Eiji Kondo},
  journal={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.},
  year={2006},
  pages={68-75}
}
  • Kanji Tanaka, Eiji Kondo
  • Published in
    Proceedings IEEE…
    2006
  • Engineering, Computer Science
  • Vehicle relocation is the problem in which a mobile robot has to estimate the self-position with respect to an a priori map of landmarks using the perception and the motion measurements without using any knowledge of the initial self-position. Recently, random sample consensus (RANSAC), a robust multi-hypothesis estimator, has been successfully applied to offline relocation in static environments. On the other hand, online relocation in dynamic environments is still a difficult problem, for… CONTINUE READING

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