Multifeature-based importance weighting for the PHD SLAM filter

  title={Multifeature-based importance weighting for the PHD SLAM filter},
  author={Keith Yu Kit Leung and Felipe Inostroza and Martin David Adams},
  journal={IEEE Transactions on Aerospace and Electronic Systems},
The probability-hypothesis-density simultaneous localization and mapping filter is a random-finite-set estimation method that incorporates the probability-hypothesis-density filter within a Rao–Blackwellized particle filter, and was developed for navigation and mapping problems. However, the filter tends to diverge due to the existing importance-weighting methods used in the Rao–Blackwellized particle filter. This article introduces a new importance-weighting method that drastically improves… CONTINUE READING