Re: [Bayes++] Some questions on SLAM class of Bayes++

[Zhang X. <eex...@po...>]

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...



-- 
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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
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