Information of Particles
نویسندگان
چکیده
simultaneous localization and mapping (UFastSLAM) using the geometric information of particles. The information are the pose of particles and their geometric relation, which are utilized in both the importance weight and the resampling steps. In the importance weight step, all particles are grouped via their weights and updated more accurately using the weight compensation scheme. In addition, the particle depletion problem is overcome by the particle formation technique using geometric relation between particles. The superior performance of the proposed approach over UFastSLAM is validated by the well-known Victoria Park dataset.
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تاریخ انتشار 2015