{ "dc.contributor.author": "Lee, Chee Sing" , "dc.contributor.author": "Nagappa, Sharad" , "dc.contributor.author": "Palomeras Rovira, Narcís" , "dc.contributor.author": "Clark, Daniel E." , "dc.contributor.author": "Salvi, Joaquim" , "dc.date.accessioned": "2015-03-25T12:22:59Z" , "dc.date.available": "2015-03-25T12:22:59Z" , "dc.date.issued": "2014" , "dc.identifier.issn": "1070-9932" , "dc.identifier.uri": "http://hdl.handle.net/10256/10211" , "dc.description.abstract": "The random finite-set formulation for multiobject estimation provides a means of estimating the number of objects in cluttered environments with missed detections within a unified probabilistic framework. This methodology is now becoming the dominant mathematical framework within the sensor fusion community for developing multiple-target tracking algorithms. These techniques are also gaining traction in the field of feature-based simultaneous localization and mapping (SLAM) for mobile robotics. Here, we present one such instance of this approach with an underwater vehicle using a hierarchical multiobject estimation method for estimating both landmarks and vehicle position" , "dc.format.mimetype": "application/pdf" , "dc.language.iso": "eng" , "dc.publisher": "Institute of Electrical and Electronics Engineers (IEEE)" , "dc.relation.isformatof": "Reproducció digital del document publicat a: http://dx.doi.org/10.1109/MRA.2014.2310132" , "dc.relation.ispartof": "© IEEE Robotics and Automation Magazine, 2014, vol. 21, p. 38-45" , "dc.relation.ispartofseries": "Articles publicats (D-ATC)" , "dc.rights": "Tots els drets reservats" , "dc.subject": "Vehicles submergibles" , "dc.subject": "Submersibles" , "dc.subject": "Algorismes computacionals" , "dc.subject": "Computer algorithms" , "dc.subject": "Robots mòbils" , "dc.subject": "Mobile robots" , "dc.title": "SLAM with SC-PHD filters: an underwater vehicle application" , "dc.type": "info:eu-repo/semantics/article" , "dc.rights.accessRights": "info:eu-repo/semantics/embargoedAccess" , "dc.embargo.terms": "Cap" , "dc.relation.projectID": "info:eu-repo/grantAgreement/EC/FP7/288273/EU/Persistent Autonomy through Learning, Adaptation, Observation and Re-planning/PANDORA" , "dc.type.version": "info:eu-repo/semantics/publishedVersion" , "dc.identifier.doi": "http://dx.doi.org/10.1109/MRA.2014.2310132" , "dc.relation.FundingProgramme": "FP7" , "dc.relation.ProjectAcronym": "PANDORA" }