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
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;
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
DOI :
10.1109/CHICC.2008.4604928
