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Why random finite sets?

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2011
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Book Chapter

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Abstract

We begin the justification for the use of RFSs by re-evaluating the basic issues of feature representation, and considering the fundamental mathematical relationship between environmental feature representations, and robot motion. We further the justification for the use of RFSs in FBRM and SLAM by considering an issue of fundamental mathematical importance in any estimation problem - estimation error.

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Mullane J. and Vo B.N. and Adams M., Vo B.T. (2011 Why random finite sets?, in Random Finite Sets for Robot Mapping and SLAM. Springer Tracts in Advanced Robotics, vol 72, pp. 11-25. Berlin: Springer.
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Springer Tracts in Advanced Robotics
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School of Electrical Engineering and Computing
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