کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
5004770 1368993 2013 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Research ArticleNew validation algorithm for data association in SLAM
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Research ArticleNew validation algorithm for data association in SLAM
چکیده انگلیسی


- A novel algorithm for data validation in SLAM robotics is proposed.
- The algorithm checks for the compatibility of matches based in a quality metric distance.
- The C++ implementation gives better execution times than other validation techniques.
- All the experiments have been carried out with real data meeting real-time constraints at 15 fps.
- The proposed data validation algorithm is more efficient than previous approaches.

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 search algorithm designed to exploit the characteristics of delayed inverse-depth technique. In order to show the capabilities of the proposed technique, experimental tests have been compared with classical methods. The results of the proposed technique outperformed the results of the classical approaches.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: ISA Transactions - Volume 52, Issue 5, September 2013, Pages 662-671
نویسندگان
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