A New Formation Maintenance Technique for Particle Diversity in RBPF-SLAM
Rao-Blackwellized particle filter (RBPF) has been to the fore as one of methods to solve simultaneous localization and mapping (SLAM) problem,i.e.RBPF-SLAM.The RBPF-SLAM,however,has been suffering from the particle depletion problem and the convergence problem caused by the improper posterior density and brutal rejection and replication of particles during resampling.We present a new technique to overcome those problems in RBPF-SLAM by keeping the particle diversity using particle formation maintenance (PFM).The triangular mesh structure is adaptively generated as a one form of PFM and it completely replaces the resampling part in RBPF-SLAM.Its considerable improvements regarding robot pose and features were shown in simulation by comparing conventional methods,i.e.FastSLAM 2.0 and PSO based FastSLAM.
Particle Diversity RBPF-SLAM Resampling Technique
Seung-Hwan Lee Heon-Cheol Lee Gyuho Eoh Beom-Hee Lee
Seoul National University(ASRI)
国际会议
济南
英文
629-634
2013-05-18（万方平台首次上网日期，不代表论文的发表时间）