[robotics-worldwide] ICRA 2012 Workshop on Stochastic Geometry in SLAM
martin at ing.uchile.cl
martin at ing.uchile.cl
Fri Feb 10 19:56:25 PST 2012
We would like to invite submissions for presentation at the ICRA 2012
workshop on "Stochastic Geometry in SLAM" to be held on 18. May, 2012,
Saint Paul, Minnesota, USA. Please see the link below for more details:
Feature based SLAM is closely related to multi-sensor, multi-target
filtering. The objective is to jointly estimate a time-varying number
of targets and their states from sensor measurements with data
association and detection uncertainty, clutter and noise. Its
systematic treatment, using random set theory, led to the mathematical
tools known as Finite Set Statistics (FISST), developed for data
fusion and estimation of random sets.
Random vector based SLAM is known to be extremely fragile in the
presence of feature detection and data association uncertainty.
Therefore recent research which has applied the FISST framework to
autonomous map representations, has shown that under this paradigm,
the fragile problems of map management and feature to feature
association can be eliminated. This framework will be the subject of
this workshop. Workshop topics will include global localisation,
Rao-Blackwellised and multi-robot SLAM which jointly consider false
alarms, missed detections and spatial sensor uncertainty. Experimental
results in challenging outdoor and marine environments will be
1. An introduction to Finite Set Statistics (FISST). Representing
uncertainty with Random Finite Sets (RFSs) versus random vectors.
2. Random set theoretic methods in global localisation.
3. Rao-Blackwellised RFS Bayesian SLAM, demonstrating experiments in
cluttered outdoor and marine environments.
4. A Single-Cluster Multi-Object Approach to Simultaneous Localisation
5. Extending the Bayesian RFS framework to multi-robot SLAM.
6. Robust multi-target filtering and SLAM.
7. Performance error metrics for SLAM - Evaluation map estimation
error in its entirety.
8. Map building using FISST.
Ronald P. Mahler, Lockheed Martin Tactical Systems, Minnesota, USA.
Daniel E. Clark, Herriot Watt University, UK.
Adrian Bishop, ANU/NICTA, Australia.
Diluka Moratuwage, NTU, Singapore.
Umut Orguner, Link?ping University, Sweden
Ba-Ngu Vo, University of Western Australia.
Martin Adams, Universidad de Chile, Santiago, Chile.
Paper Submission: 12. March 2012
Notification of Acceptance: 16. April 2012
Final Paper Submission: 1. May 2012
Workshop Date: 18. May 2012
Martin Adams (University of Chile): martin at ing.uchile.cl
Ba-Ngu Vo (University of Western Australia): ba-ngu.vo at uwa.edu.au
Dr. Martin Adams
Professor of Electrical Engineering
Universidad de Chile
Dept. Electrical Engineering
Av. Tupper 2007, 837?0451 Santiago, Chile
Email: martin at ing.uchile.cl
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