Persistence Filter

The Persistence Filter is an efficient Bayesian algorithm for estimating a belief over the continued existence of environmental features, a common problem arising in robotic mapping in semi-static (i.e., changing) environments.

We are making this software freely available in the hope that it will be useful to others. If you use the Persistence Filter in your own work, please cite our paper:

@inproceedings{Rosen2016Towards,
title = {Towards Lifelong Feature-Based Mapping in Semi-Static Environments},
author = {Rosen, D.M. and Mason, J. and Leonard, J.J.},
booktitle = {{IEEE} Intl. Conf. on Robotics and Automation (ICRA)},
pages = {1063--1070},
address = {Stockholm, Sweden},
month = may,
year = 2016,
}

Copyright and License

The C++ and Python implementations of the Persistence Filter contained herein are copyright (C) 2016 by David M. Rosen, and are distributed under the terms of the GNU General Public License (GPL) version 3 (or later). Please see the file LICENSE for more information.

Contact: [email protected]