The Labeled Multi-Bernoulli SLAM Filter

@article{Deusch2015TheLM,
  title={The Labeled Multi-Bernoulli SLAM Filter},
  author={Hendrik Deusch and Stephan Reuter and Klaus C. J. Dietmayer},
  journal={IEEE Signal Processing Letters},
  year={2015},
  volume={22},
  pages={1561-1565}
}
In this contribution, a new algorithm addressing the simultaneous localization and mapping (SLAM) problem is proposed: a Rao-Blackwellized implementation of the Labeled Multi-Bernoulli SLAM (LMB-SLAM) filter. Further, we establish that the LMB-SLAM does not require the approximations used in Probability Hypothesis Density SLAM (PHD-SLAM). The LMB-SLAM is shown to outperform PHD-SLAM in simulations by providing a more accurate map as well as an improved estimate of the vehicle's trajectory which… CONTINUE READING
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