Probabilistic Data Association via Mixture Models for Robust Semantic SLAM
Kevin J. Doherty,David P. Baxter,Edward Schneeweiss,John J. Leonard,Kevin J. Doherty,David P. Baxter,Edward Schneeweiss,John J. Leonard
Modern robotic systems sense the environment geometrically, through sensors like cameras, lidar, and sonar, as well as semantically, often through visual models learned from data, such as object detectors. We aim to develop robots that can use all of these sources of information for reliable navigation, but each is corrupted by noise. Rather than assume that object detection will eventually achiev...
