Introduction
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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Keywords
- Probability Density Function
- Data Association
- Occupancy Grid
- Measurement Likelihood
- Data Association Problem
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© 2011 Springer-Verlag Berlin Heidelberg
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Mullane, J., Vo, BN., Adams, M., Vo, BT. (2011). Why Random Finite Sets?. In: Random Finite Sets for Robot Mapping and SLAM. Springer Tracts in Advanced Robotics, vol 72. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-21390-8_2
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DOI: https://doi.org/10.1007/978-3-642-21390-8_2
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-21389-2
Online ISBN: 978-3-642-21390-8
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