Tham khảo tài liệu 'mobile robots perception & navigation part 12', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Efficient Data Association Approach to Simultaneous Localization and Map Building 431 5. Conclusions This chapter presented a data association algorithm for SLAM which offers a good trade-off between accuracy and computational requirements. We first formulated the data association problem in SLAM as a two dimensional assignment problem. In our work only 1 frame of scan data is considered. The data association problem in SLAM is formulated as a two dimensional assignment problem rather than a three dimensional one which is an NP hard problem and is computationally more efficient. Further since only one step prediction is involved the effect of the vehicle model uncertainty is smaller as compared to the data association methods using two frame scan data. In order to obtain a fast solution the 0-1 IP problem was firstly relaxed to an LP problem. Then we proposed to use the IHGR procedure in conjunction with basic LP algorithms to obtain a feasible solution of the data association problem. Both the simulation and experiment results demonstrated that the proposed algorithm is implementable and gives a better performance higher successful rate than the commonly used NN algorithm for complex outdoor environments with high density of features. Compared to the optimal JCBB algorithm the proposed algorithm has lower computational complexity and is more suitable for real-time implementation. References Adams M. D. 1999 . Sensor Modeling Design and Data Processing for Autonomous Navigation World Scientific Singapore. Adams M. D. Zhang S. and Xie L. 2004 . Paticle filter based outdoor robot localization using natural features extracted from laser scanner Proceedings of the IEEE International Conference on Robotics and Automation pp. 854-859 New Orleans USA April 2004. Bailey T. Nebot E. M. Rosenblatt J. K. and Durrant-Whyte H. F. 2000 . Data association for mobile robot navigation a graph theoretic approach Proceedings of the IEEE International Conference on Robotics and .
