Efficient Multimodal Belief Propagation for Robust SLAM Using Clustering Based Reparameterization
Seungwon Choi,Tae-Wan Kim,Seungwon Choi,Tae-Wan Kim
Due to the presence of ambiguities caused by sensor noise and structural similarity, simultaneous localization and mapping (SLAM) observation models are typically multimodal. The multimodal inference process can be directly dealt with by belief propagation (BP) using weighted Gaussian mixture messages, but for efficiency, a combinatorial explosion of the complexity must be suitably relaxed. In thi...
