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

[Nicola B. <nb...@es...>]

Hello Zhang,

I don't think Bayes++ can deal with data association and unfortunately I don't 
think there is any library with such capabilities. My suggestion is to have a 
look at the following book:

Bar-Shalom, Y. & Li, X.R. Multitarget-Multisensor Tracking: Principles and 
Techniques Y. Bar-Shalom, 1995

which explains all the most famous algorithms for data association, including 
NN, JPDA and MHT. Then you can implement them according to your specific 
application.

Hope it helps.

Regards,

Nicola


On Sunday 24 February 2008 12:59:04 Zhang Xinzheng wrote:
> 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
University of Essex
Dept. of Computing and Electronic Systems
Wivenhoe Park
Colchester CO4 3SQ
United Kingdom

Room: 1N1.2.8
Tel. +44 (0)1206 872477
URL: http://privatewww.essex.ac.uk/~nbello
------------------------------------------