Re: [Bayes++] Some questions on SLAM class of Bayes++
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From: Zhang X. <eex...@po...> - 2008-02-24 13:00:31
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Dear Nicola, Thanks for your reply. As I know from your personal website, your PhD Topic is Multisensor Data Fusion for Simultaneous People Tracking and Recognition with Service Robots. The data association is a very important issue in target tracking, would you please tell me whether Bayes++ class can cope with this problem or not? Many popular data association algorithms, such as nearest neighbour, require the extra statistical techniques. I have read the PV and PV_SIR examples, there is not any code related to data association. Does the Bayes++ include some DA algorithm? Could you give me some explaination and how you can deal with the data association by the Bayse++ class? Many thanks. Yours sincerely, Zhang Xinzheng ============================ The Hong Kong Polytechnic University Department of Electrical Engineering Hung Hom, Kowloon Hong Kong Tel: +852-2766 4276 E-Mail: eex...@po... -------- Original Message -------- Subject: Re: Some questions on SLAM class of Bayes++ Date: 2008-02-24 04:25:34 From: Nicola Bellotto To: Zhang Xinzheng CC: bay...@li... Dear Zhang, Sorry for the late reply, I was busy with some paper deadlines. Unfortunately I am afraid I cannot help you with this as I don't know the class you mentioned. The examples PV and PV_SIR might be simpler to understand and more useful for a new Bayes++ user (at least they were for me). If you have more specific questions about the Covariance_scheme (EKF), Unscented_scheme (UKF) or SIR_scheme (particle filter), which are the classes I use the most, I'm glad to help. Otherwise, you already wrote on the right place, as probably you'll get your answer soon from Michael on the mailing-list. Regards, Nicola On Wednesday 20 February 2008 04:11:39 you wrote: > Dear Nicola, > > I am sorry to bother you. I hope to use the SLAM class of Bayes++ to my > research. As a freshman, I have read the mailing lists of Bayes++. Some of > your topics are very helpful for me, but a few questions on SLAM class > confused me. From the source files of this class, I found there is no data > association (DA) for the observed features, and in the SLAM example > 'observe' and 'observe_new' seem to contribute to the DA. I am not sure my > thought is right or not. Actually, it is not clear for me to understand the > observation models 'Feature_observe' and 'Feature_observe_inverse', and the > functions 'obseve' and 'observe_new'. > > Could you give me some advice on these questions? Thanks. > I look forward to hearing your reply. > > Yours sincerely, > Zhang Xinzheng > ============================ > The Hong Kong Polytechnic University > Department of Electrical Engineering > Hung Hom, Kowloon > Hong Kong > Tel: +852-2766 4276 > E-Mail: eex...@po... -- ------------------------------------------ Nicola Bellotto Dept. of Computing and Electronic Systems University of Essex Wivenhoe Park Colchester CO4 3SQ United Kingdom Room: 1N1.2.8 Tel. +44 (0)1206 872477 URL: http://privatewww.essex.ac.uk/~nbello ------------------------------------------ |