Variational Filtering with Copula Models for SLAM
John D. Martin,Kevin Doherty,Caralyn Cyr,Brendan Englot,John Leonard,John D. Martin,Kevin Doherty,Caralyn Cyr,Brendan Englot,John Leonard
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 map...
