A double guarantee kidnapping detection in simultaneous localization and mapping

A double guarantee kidnapping detection (DGKD) method is proposed for determining whether kidnapping has happened and which type of kidnapping it is. The method can be constructed conveniently, with only three metrics and different thresholds. Our method is a hybrid type utilizing selective front-check and verification processes, using the metrics to obtain the best possible accuracy on kidnapping detection. In addition, a convenient method to determine the thresholds on real-time conditions is proposed. Simulation results demonstrate the validity and accuracy of the proposed method.