PPT Slide
State Space Representations
- Kalman filters: [Schiele et al., 94], [Weiß et al., 94], [Borenstein, 96], [Gutmann et al., 96, 98], [Arras, 98]
- Represent density by uni-modal Gaussians
- Position tracking; highly accurate; efficient
- Topological Markov localization: [Nourbakhsh et al., 95], [Simmons et al., 95], [Kaelbling et al., 96]
- Coarse, discrete state space
- Global localization; inaccurate; efficient
- Grid-based Markov localization: [Burgard et al., 96, 98], [Konolige 99]
- Piecewise constant approximation
- Global localization; accurate; inefficient in memory and time