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• W2022993616 abstract "We propose a multi-hypothesis solution to the simplified problem of simultaneous localization and mapping (SLAM) that arises when only two measurement frames are available. The proposed solution is obtained through direct evaluation of the posterior density as given by finite set statistics. We show that hypothesis probabilities can be evaluated within reasonable accuracy by means of a closed-form expression. Consistency properties are discussed extensively. We overcome inconsistency problems of the extended Kalman filter by means of natural gradient optimization, and we demonstrate through implementations on simulated and real data that the proposed approach has better consistency properties than alternative approaches when applied to the two-frame SLAM problem." @default.
• W2022993616 created "2016-06-24" @default.
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• W2022993616 date "2014-10-22" @default.
• W2022993616 modified "2023-09-27" @default.
• W2022993616 title "A multi-hypothesis solution to data association for the two-frame SLAM problem" @default.
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• W2022993616 doi "https://doi.org/10.1177/0278364914545674" @default.
• W2022993616 hasPublicationYear "2014" @default.
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