[robotics-worldwide] ICRA 2012 ** Workshop on Stochastic Geometry in SLAM **
martin at ing.uchile.cl
Thu May 10 16:01:11 PDT 2012
ICRA 2012 ** Workshop on Stochastic Geometry in SLAM **
Meeting Room 6, Saint Paul River Center,
175 West Kellogg Blvd, Saint Paul, Minnesota 55102, USA.
Friday 18. May 08.45 - 17.15.
Updated Workshop Details:
ICRA Conference Details: http://www.icra2012.org/
Representing the feature based SLAM map state as a Random Finite Set (RFS),
rather than the conventionally used random vector, is not merely a
triviality of representation. Recent research has shown that Finite Set
Statistics (FISST), developed for data fusion and estimation with RFSs, when
applied to SLAM, can eliminate the necessity of fragile map management and
feature association algorithms. The RFS map concept therefore provides a
robust paradigm under which the true number of features, which have entered
the field(s) of view of an autonomous vehicles sensor(s), as well as their
locations, can be jointly estimated in a Bayes optimal manner, while taking
into account feature detection and false alarm probabilities.
The workshop will encompass presentations on the direct application of FISST
to SLAM with an introduction to FISST, SLAM solutions in the presence of
high levels of clutter in complex environments, multi-vehicle SLAM, extended
target tracking and adaptive information retrieval based on visual sensors.
08.45 Martin Adams & Ba-Ngu-Vo, Welcome and Workshop Introduction
09.00 Ronald P. Mahler, "Finite-Set Statistics and SLAM"
10.00 Coffee Break
10.30 Ba-Ngu Vo, "Stochastic Geometry and Bayesian SLAM"
11.10 Daniel E. Clark, Chee S. Lee and Sharad Nagappa, "Single-Cluster
PHD Filtering and Smoothing for SLAM Applications"
11.50 Karl Granström, Christian Lundquist, Fredrik Gustafsson and Umut
Orguner, "On Extended Target Tracking Using PHD Filters"
14.00 John Mullane, Samuel Keller and Martin Adams "Random Set Versus
Vector Based SLAM in the Presence of High Clutter"
14.40 Diluka Moratuwage, Ba-Ngu Vo, Sardha Wijesoma and Danwei Wang,
"Extending the Bayesian RFS SLAM Framework to Multi-Vehicle SLAM"
15.20 Philip Dames, Dinesh Thakur, Mac Schwager and Vijay Kumar,
"Adaptive Information Gathering Using Visual Sensors"
16.00 Coffee Break
16.30 Panel Discussion, "The Future of Stochastic Geometry in Robotic
17.15 End Workshop.
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: <mailto:martin at ing.uchile.cl> martin at ing.uchile.cl
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