Simultaneous pose and reliability estimation using convolutional neural network and Rao-Blackwellized particle filter

In this study, we propose a novel localization approach that simultaneously estimates the reliability of estimation results. In the approach, a convolutional neural network (CNN) is used to make decision whether the localization process has failed or not. We train the CNN using a dataset that includ...

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Bibliographic Details
Published in:Advanced robotics 2018-09, Vol.32 (17), p.930-944
Main Authors: Akai, Naoki, Morales, Luis Yoichi, Murase, Hiroshi
Format: Article
Language:English
Subjects:
convolutional neural network
failure detection
Localization
Rao-Blackwellized particle filter
reliability
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