自动化学报2013，Vol.39Issue(6)：883-894,12.DOI:10.3724/SP.J.1004.2013.00883
VorSLAM算法中基于多规则的数据关联方法
A Data Association Approach Based on Multi-rules in VorSLAM
摘要
Abstract
To solve the problem that the data association (DA) algorithm based only on Mahalanobis distance cannot ensure to produce correct results,this paper proposes a data association approach based on multi-rules,which has utilized the characteristic of the hybrid metric map representation,adopted in VorSLAM.This approach consists of the rule of local searching,the rule of unidirectivity existing in the corner's observation,the rule of Mahalanobis distance and the rule of shape matching.These rules execute in turn in each data association circle.The former two rules decrease the searching space of the data association and avoid a sort of wrong data association.The rule of Mahalanobis distance can produce a set of potential data association hypothese according to the location information expressed in the feature's parameters.Utilizing the characteristic that in VorSLAM each local map describes the local environment's contour of its corresponding feature,the rule of shape matching finally recognizes the correct data association hypothesis.The data association based on multi-rules has systematically and reliably solved the data association problem in VorSLAM.The efficiency of the proposed approach is verified in two experiments carried out in indoor environments.关键词
数据关联/马氏距离/同步定位与地图创建/地图创建Key words
Data association (DA)/Mahalanobis distance/simultaneous localization and mapping (SLAM)/mapping引用本文复制引用
郭帅,马书根,李斌,王明辉,王越超..VorSLAM算法中基于多规则的数据关联方法[J].自动化学报,2013,39(6):883-894,12.基金项目
国家自然科学基金(61075103)资助 （61075103）
Supported by National Natural Science Foundation of China (61075103) （61075103）
