Browsing by Author "Adams, Martin"

Now showing items 1-10 of 10

    • A Multi-Sensor, Gibbs Sampled, Implementation of the Multi-Bernoulli Poisson Filter 
      Cament, Leonardo; Adams, Martin; Correa, Javier (Institute of Electrical and Electronics Engineers Inc., 2018)
      This paper introduces and addresses the implementation of the Multi-Bernoulli Poisson (MBP) filter in multi-target tracking. A performance evaluation in a real scenario, in which a 3D lidar, automotive radar and a video ...
    • A Random-Finite-Set Approach to Bayesian SLAM 
      Mullane, John; Vo, Ba-Ngu; Adams, Martin; Vo, Ba-Tuong (IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2011-04)
      This paper proposes an integrated Bayesian framework for feature-based simultaneous localization and map building (SLAM) in the general case of uncertain feature number and data association. By modeling the measurements ...
    • Addressing Data Association in Maximum Likelihood SLAM with Random Finite Sets 
      Opazo Inostroza, Felipe; Adams, Martin (Institute of Electrical and Electronics Engineers Inc., 2018)
      Recently, various algorithms which adopt Random Finite Sets (RFS) for the solution of the fundamental, autonomous robotic, feature based, Simultaneous Localization and Mapping (SLAM) problem, have been proposed. In contrast ...
    • Chilean underground mine dataset 
      Leung, Keith; Lühr, Daniel; Houshiar, Hamidreza; Inostroza Allende, Luis Felipe; Borrmann, Dorit; Adams, Martin; Nüchter, Andreas; Ruiz del Solar, Javier (SAGE, 2017)
      This article presents a robotic dataset collected from the largest underground copper mine in the world. The sensor mea-surements from a 3D scanning lidar, a 2D radar, and stereo cameras were recorded from an approximately ...
    • Classification of rock lithology by laser range 3D and color images 
      Galdames, Francisco J.; Pérez Flores, Claudio; Estévez Valencia, Pablo; Adams, Martin (Elsevier, 2017)
      The determination of hardness and approximate mineral composition of rocks and classifying these litholo-gies aids in controlling various processes in the plant, such as reducing the grinding process, which accountsfor ...
    • Metrics for Evaluating Feature-Based Mapping Performance 
      Barrios, Pablo; Adams, Martin; Leung, Keith; Inostroza, Felipe; Naqvi, Ghayur; Orchard Concha, Marcos (IEEE, 2017)
      Inrobotic mapping and simultaneous localization and mapping, the ability to assess the quality of estimated maps is crucial. While concepts exist for quantifying the error in the estimated trajectory of a robot, or a ...
    • Radar Noise Reduction Based on Binary Integration 
      Lühr Sierra, Daniel; Adams, Martin (IEEE, 2015)
      Short range radars can provide robust information about their surroundings under atmospheric disturbances, such as dust, rain, and snow, conditions under which most other sensing technologies fail. However, this information ...
    • Rock lithological classification by hyperspectral, range 3D and color images 
      Galdames, Francisco J.; Pérez Flores, Claudio; Estévez, Pablo A.; Adams, Martin (Elsevier B.V., 2019)
      Mine operations in the future will require automatic rock characterization at many different stages, since it can be used to supervise and optimize various processes in the laboratory as well as at the mine locations for ...
    • SLAM Gets a PHD New Concepts in Map Estimation 
      Adams, Martin; Vo, Ba-Ngu; Mahler, Ronald; Mullane, John (2014)
    • δ-Generalized Labeled Multi-Bernoulli Simultaneous Localization and Mapping with an Optimal Kernel-Based ... 
      Moratuwage, Diluka; Adams, Martin; Inostroza, Felipe (NLM (Medline), 2019)
      Under realistic environmental conditions, heuristic-based data association and map management routines often result in divergent map and trajectory estimates in robotic Simultaneous Localization And Mapping (SLAM). To ...