Two Measures for Enhancing Data Association Performance in SLAM
Joint Authors
Zhou, Wu
Yin, Xiaohong
Cao, Zhenxin
Shao, Jinjun
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-08-21
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
Data association is one of the key problems in the SLAM community.
Several data association failures may cause the SLAM results to be divergent.
Data association performance in SLAM is affected by both data association methods and sensor information.
Two measures of handling sensor information are introduced herein to enhance data association performance in SLAM.
For the first measure, truncating strategy of limited features, instead of all matched features, is used for observation update.
These features are selected according to an information variable.
This truncating strategy is used to lower the effect of false matched features.
For the other measure, a special rejecting mechanism is designed to reject suspected observations.
When the predicted robot pose is obviously different from the updated robot pose, all observed sensor information at this moment is discarded.
The rejecting mechanism aims at eliminating accidental sensor information.
Experimental results indicate that the introduced measures perform well in improving the stability of data association in SLAM.
These measures are of extraordinary value for real SLAM applications.
American Psychological Association (APA)
Zhou, Wu& Yin, Xiaohong& Cao, Zhenxin& Shao, Jinjun. 2014. Two Measures for Enhancing Data Association Performance in SLAM. Journal of Sensors،Vol. 2014, no. 2014, pp.1-8.
https://search.emarefa.net/detail/BIM-1042933
Modern Language Association (MLA)
Zhou, Wu…[et al.]. Two Measures for Enhancing Data Association Performance in SLAM. Journal of Sensors No. 2014 (2014), pp.1-8.
https://search.emarefa.net/detail/BIM-1042933
American Medical Association (AMA)
Zhou, Wu& Yin, Xiaohong& Cao, Zhenxin& Shao, Jinjun. Two Measures for Enhancing Data Association Performance in SLAM. Journal of Sensors. 2014. Vol. 2014, no. 2014, pp.1-8.
https://search.emarefa.net/detail/BIM-1042933
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1042933