Why random finite sets?

Mullane, J.; Vo, Ba-Ngu; Adams, M.; Vo, B.

doi:10.1007/978-3-642-21390-8_2

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Authors

Mullane, J.

Vo, Ba-Ngu

Adams, M.

Vo, B.

Date

2011

Type

Book Chapter

Metadata

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Citation

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.

Source Title

Springer Tracts in Advanced Robotics

DOI

10.1007/978-3-642-21390-8_2

School

School of Electrical Engineering and Computing

URI

http://hdl.handle.net/20.500.11937/59986

Collection

Curtin Research Publications

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.