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New validation algorithm for data association in SLAM

Autor
Guerra, E.; Munguia, R.F.; Bolea, Y.; Grau, A.
Tipus d'activitat
Article en revista
Revista
ISA transactions
Data de publicació
2013
Volum
52
Número
5
Pàgina inicial
662
Pàgina final
671
DOI
https://doi.org/10.1016/j.isatra.2013.04.008 Obrir en finestra nova
Resum
In this work, a novel data validation algorithm for a single-camera SLAM system is introduced. A 6-degree-of-freedom monocular SLAM method based on the delayed inverse-depth (DI-D) feature initialization is used as a benchmark. This SLAM methodology has been improved with the introduction of the proposed data association batch validation technique, the highest order hypothesis compatibility test, HOHCT. This new algorithm is based on the evaluation of statistically compatible hypotheses, and a s...
Paraules clau
Data association Monocular SLAM Only-bearing sensor Robotics
Grup de recerca
VIS - Visió Artificial i Sistemes Intel.ligents

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