A Hybrid Data Association Strategy in SLAM

摘要：

Data association is one of the key issues in SLAM. Against the accuracy of NN data association is low ,but its efficiency is high and JCBB data association have high accuracy, but its efficiency is low, a hybrid data association strategy is proposed. At first NN produce an assumption H, according to conditions to decide whether we correct it or take what kind of corrective actions to get new assumption. Simulation results show that, both static environment and dynamic environment, this method is effective, the correlation results are reliable and its time performance is significantly better than JCBB.

关键词： SLAM Data association Efficiency Reliable

作者: Jie Xiong Yan Li

作者单位: National University of Defense Technology ChangSha, China

会议类型: 国际会议

会议名称: 2012 4th International Conference on Intelligent Human-Machine Systems and Cybernetics 第4届智能人机系统与控制论国际会议 IHMSC 2012

会议地点: 南昌

会议语种:英文

页码: 348-351

在线出版日期: 2012-08-26（万方平台首次上网日期，不代表论文的发表时间）