An efficient data association technique for mobile robots in topological maps

The data association, which matches a recent observation with known data set for the localization of mobile robots, has been realized by various sensor data. However, no data association technique which uses the edge data of topological maps has been reported, even though rich information is contained in the edge. This paper proposes a systematic way of utilizing the edge data for the data association. We explain the basic scheme and provide the market expectation.