119 citations · 188 across the 6 of their papers we have counts for
7 papers
GPL-SLAM: A Laser SLAM Framework with Gaussian Process Based Extended Landmarks
Ali Emre Balcı, Erhan Ege Keyvan, Emre Özkan
We present a novel Simultaneous Localization and Mapping (SLAM) method that employs Gaussian Process (GP) based landmark (object) representations. Instead of conventional grid maps…
A Rao-Blackwellized Particle Filter for Superelliptical Extended Target Tracking
Oğul Can Yurdakul, Mehmet Çetinkaya, Enescan Çelebi +1
In this work, we propose a new method to track extended targets of different shapes such as ellipses, rectangles and rhombi. We provide an analytical framework to express these sha…
Random Matrix Based Extended Target Tracking with Orientation: A New Model and Inference
Barkın Tuncer, Emre Özkan
In this study, we propose a novel extended target tracking algorithm which is capable of representing the extent of dynamic objects as an ellipsoid with a time-varying orientation…
Extended Target Tracking and Classification Using Neural Networks
Barkın Tuncer, Murat Kumru, Emre Özkan
Extended target/object tracking (ETT) problem involves tracking objects which potentially generate multiple measurements at a single sensor scan. State-of-the-art ETT algorithms ca…
Three-Dimensional Extended Object Tracking and Shape Learning Using Gaussian Processes
Murat Kumru, Emre Özkan
In this study, we investigate the problem of tracking objects with unknown shapes using three-dimensional (3D) point cloud data. We propose a Gaussian process-based model to jointl…
Robust Bayesian Filtering and Smoothing Using Student's t Distribution
Michael Roth, Tohid Ardeshiri, Emre Özkan +1
State estimation in heavy-tailed process and measurement noise is an important challenge that must be addressed in, e.g., tracking scenarios with agile targets and outlier-corrupte…
Gaussian Mixture Reduction Using Reverse Kullback-Leibler Divergence
Tohid Ardeshiri, Umut Orguner, Emre Özkan
We propose a greedy mixture reduction algorithm which is capable of pruning mixture components as well as merging them based on the Kullback-Leibler divergence (KLD). The algorithm…