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NTIS 바로가기제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, v.15 no.6, 2009년, pp.619 - 625
우종석 (서울대학교 전기컴퓨터공학부) , 최명환 (강원대학교 전기전자공학부) , 이범희 (서울대학교 전기컴퓨터공학부)
FastSLAM which uses the Rao-Blackwellized particle filter is one of the famous solutions to SLAM (Simultaneous Localization and Mapping) problem that estimates concurrently a robot's pose and surrounding environment. However, the particle depletion problem arises from the loss of the particle divers...
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I. K. Kim, N. Kwak, H. C. Lee, and B. H. Lee, 'Improved particle filter using geometric relation between particles in FastSLAM,' Robotica, Oct. 2008. (accepted)
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