DocumentCode
2656008
Title
On data association for mobile robot SLAM based on dynamic threshold
Author
Fengchi, Sun ; Wei, Lu ; Tingting, Wang
Author_Institution
Coll. of Software, Nankai Univ., Tianjin
fYear
2008
fDate
16-18 July 2008
Firstpage
290
Lastpage
294
Abstract
This paper research the data association problem in mobile robot simultaneous localization and mapping - SLAM. The concept of dynamic threshold is established to adapt to the uncertainty change during SLAM process. On one hand the dynamic threshold is used to change the threshold for judging the candidate observation for data association. On the other hand, dynamic threshold is used in nearest neighbor method based data association to improve the association speed and right rate. Simulation experiments show that the dynamic threshold is efficient.
Keywords
SLAM (robots); data handling; mobile robots; data association; dynamic threshold; mobile robot SLAM; nearest neighbor method; simultaneous localization and mapping; uncertainty change; Educational institutions; Mobile robots; Nearest neighbor searches; Simultaneous localization and mapping; Sun; Uncertainty; Data Association; Dynamic Threshold; Simultaneous Localization and Mapping;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference, 2008. CCC 2008. 27th Chinese
Conference_Location
Kunming
Print_ISBN
978-7-900719-70-6
Electronic_ISBN
978-7-900719-70-6
Type
conf
DOI
10.1109/CHICC.2008.4604928
Filename
4604928
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