Title :
Bayesian multi-hypothesis scan matching
Author :
Brekke, Edmund ; Chitre, Mandar
Author_Institution :
Tropical Marine Sci. Inst., Nat. Univ. of Singapore, Singapore, Singapore
Abstract :
This paper proposes a multi-hypothesis solution to the simplified problem of simultaneous localization and mapping (SLAM) that arises when only two measurement frames are available. The proposed solution calculates hypothesis probabilities according to modeling based on standard multitarget tracking (MTT). State estimation is carried out by a hybrid technique consisting of extended Kalman filtering (EKF) and natural gradient (NG) optimization. The search for promising candidate hypotheses is carried out by Bron & Kerbosh´ clique detection algorithm. Both Monte-Carlo simulations and implementation on real-world sonar data show that the proposed approach has desirable robustness properties.
Keywords :
Bayes methods; Kalman filters; Monte Carlo methods; SLAM (robots); target tracking; Bayesian multihypothesis scan matching; EKF; Monte Carlo simulations; SLAM; clique detection algorithm; extended Kalman filtering; hybrid technique; mapping; measurement frames; multihypothesis solution; natural gradient optimization; simplified problem; simultaneous localization; sonar data; standard multitarget tracking; state estimation; Bayes methods;
Conference_Titel :
OCEANS - Bergen, 2013 MTS/IEEE
Conference_Location :
Bergen
Print_ISBN :
978-1-4799-0000-8
DOI :
10.1109/OCEANS-Bergen.2013.6608000