Three-dimensional machine vision
Three-dimensional machine vision
Tracking and data association
A stochastic map for uncertain spatial relationships
Proceedings of the 4th international symposium on Robotics Research
3D measurements from imaging laser radars: how good are they?
Image and Vision Computing - Special issue: range image understanding
Sensor Modelling, Design and Data Processing for Autonomous Navigation in Confined Environments
Sensor Modelling, Design and Data Processing for Autonomous Navigation in Confined Environments
Improved Occupancy Grids for Map Building
Autonomous Robots
Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans
Journal of Intelligent and Robotic Systems
Occupancy grids: a probabilistic framework for robot perception and navigation
Occupancy grids: a probabilistic framework for robot perception and navigation
Learning Occupancy Grid Maps with Forward Sensor Models
Autonomous Robots
Fastslam: a factored solution to the simultaneous localization and mapping problem with unknown data association
Range error detection caused by occlusion in non-coaxial LADARs for scene interpretation
Journal of Robotic Systems
The Estimation Theoretic Sensor Bias Correction Problem in Map Aided Localization
International Journal of Robotics Research
Including probabilistic target detection attributes into map representations
Robotics and Autonomous Systems
D-SLAM: A Decoupled Solution to Simultaneous Localization and Mapping
International Journal of Robotics Research
Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
International Journal of Robotics Research
Exactly Sparse Extended Information Filters for Feature-based SLAM
International Journal of Robotics Research
Robotic Mapping Using Measurement Likelihood Filtering
International Journal of Robotics Research
Statistical Multisource-Multitarget Information Fusion
Statistical Multisource-Multitarget Information Fusion
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Nonlinear constraint network optimization for efficient map learning
IEEE Transactions on Intelligent Transportation Systems
A Laser Time-of-Flight Range Scanner for Robotic Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Convergence Analysis of the Gaussian Mixture PHD Filter
IEEE Transactions on Signal Processing
The Gaussian Mixture Probability Hypothesis Density Filter
IEEE Transactions on Signal Processing
Analytic Implementations of the Cardinalized Probability Hypothesis Density Filter
IEEE Transactions on Signal Processing - Part II
A tutorial on particle filters for online nonlinear/non-GaussianBayesian tracking
IEEE Transactions on Signal Processing
A Bayesian approach to tracking multiple targets using sensorarrays and particle filters
IEEE Transactions on Signal Processing
A Consistent Metric for Performance Evaluation of Multi-Object Filters
IEEE Transactions on Signal Processing - Part I
A multilevel relaxation algorithm for simultaneous localization and mapping
IEEE Transactions on Robotics
Toward multidimensional assignment data association in robot localization and mapping
IEEE Transactions on Robotics
Exactly Sparse Delayed-State Filters for View-Based SLAM
IEEE Transactions on Robotics
Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters
IEEE Transactions on Robotics
iSAM: Incremental Smoothing and Mapping
IEEE Transactions on Robotics
A Random-Finite-Set Approach to Bayesian SLAM
IEEE Transactions on Robotics
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Perceptive laser and radar sensors provide information from the surrounding environment and are a critical aspect of many robotics applications. These sensors are generally subject to many sources of uncertainty, namely detection and data association uncertainty, spurious measurements, biases as well as measurement noise. To deal with such uncertainty, probabilistic methods are most widely adopted. These probabilistic environmental representations, for autonomous navigation frameworks with uncertain measurements, can generally be subdivided into two main categories — grid based (GB) and feature based (FB). GB approaches are popular for robotic exploration, obstacle avoidance and path planning, whereas FB maps, with their reduced dimensionality, are primarily used for large scale robotic navigation and simultaneous localization and map building (SLAM). While researchers commonly distinguish both approaches based on their environmental representations, this paper examines the fundamental, theoretical aspects of the estimation theoretic algorithms for both approaches. Emphasis on the measurement likelihoods is used to incorporate measurement uncertainty, and their impact on the resulting stochastic formulations is examined. This paper also explores the front-ends of commonly used laser and radar sensors to develop an in-depth understanding of inherent measurement uncertainty. In this monograph, perceptive uncertainty is largely categorized into that related to signal detection and range measuring. While range noise is commonly addressed in the robotics literature, there is less emphasis placed on detection uncertainty and its subsequent impact on stochastic robotic perception algorithms. As such, following a signal level analysis of both laser and radar range finders, this paper addresses stochastic measurement modeling and map representations. In particular, occupancy grid methods based on spatial statistics are reviewed as well as those more recently based on detection statistics. Recent work, which proposes that the occupancy state space is more appropriately propagated by applying the discrete Bayes recursion using estimates of the detection and false alarm probabilities, as opposed to the commonly used range measurement likelihoods, is discussed. A review of FB perception methods is presented, with particular attention to the important fields of robotic mapping and SLAM. In particular, comparisons of state-of-the-art Gaussian, Gaussian mixture, and nonparametric map representations are given, demonstrating the assumptions and advantages of each technique. Finally, recent FB frameworks using random finite sets are reviewed in which the measurement model is generalized to include detection uncertainty and the feature map representation is generalized to incorporate uncertainty in the number of features present. These recent developments add a new direction to the well-studied problem of robotic perception and the estimation of any given environment.