Variational Filtering with Copula Models for SLAM

  title={Variational Filtering with Copula Models for SLAM},
  author={John D. Martin and Kevin Anthony James Doherty and Caralyn Cyr and Brendan Englot and John J. Leonard},
  journal={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
The ability to infer map variables and estimate pose is crucial to the operation of autonomous mobile robots. In most cases the shared dependency between these variables is modeled through a multivariate Gaussian distribution, but there are many situations where that assumption is unrealistic. Our paper shows how it is possible to relax this assumption and perform simultaneous localization and mapping (SLAM) with a larger class of distributions, whose multivariate dependency is represented with… 

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