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This article proposed a simple and effective methodology for improving diversity of samples in Particle Filter (PF). The motivation lies in the situation that resampling procedure which aims for amending particle degeneracy always leads to particle depletion and less diversity of particles has severe consequence on the filter estimation accuracy. Various resample approaches have been developed in...
This paper presents an effective Simultaneous Localization and Map-Building (SLAM) technique for indoor mobile robot navigation based on laser scan-matching and Rao-Blackwellized Particle Filter (RBPF). Although the Extended Kalman Filter (EKF) solution exhibits some desirable properties, the associated geometric feature map itself fails to cope with senor noise mingled in the incoming laser reading...
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