Data association in bearing-only SLAM using a cost function-based approach

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dc.contributor.author Kwok, Ngai en_US
dc.contributor.author Ha, Quang en_US
dc.contributor.author Gu, Fang en_US
dc.contributor.editor Seth Hutchinson en_US
dc.date.accessioned 2009-11-09T05:36:54Z
dc.date.available 2009-11-09T05:36:54Z
dc.date.issued 2007 en_US
dc.identifier 2006015152 en_US
dc.identifier.citation Kwok Ngai Ming, Ha Quang, and Gu Fang 2007, 'Data association in bearing-only SLAM using a cost function-based approach', IEEE, Piscataway, USA, pp. 4108-4113. en_US
dc.identifier.issn 1050-4729 en_US
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/2862
dc.description.abstract When using an extended Kalman filter (EKF) in simultaneous localization and mapping (SLAM) for a mobile robot with bearing-only measurements, it is crucial to correctly assign correspondences between measurements and registered features in the map, otherwise the filter diverges or becomes inconsistent. Conventional methods based on the Mahalanobis distance metric may produce data association ambiguities. Its reliability may further be degraded in bearing-only SLAM due to the limited amount of information delivered from the sensor. The data association process is cast here as that of making a decision based on the sensor measurement as whether to update the EKF or not. For this, cost functions are applied taking into account the interferences from other features. The proposed approach enhances robustness of the data association and consequently assures the performance of bearing-only SLAM. Results from simulations and experiments are included to demonstrate the effectiveness of the method in a typical indoor scenario. en_US
dc.publisher IEEE en_US
dc.relation.isbasedon http://dx.doi.org/10.1109/ROBOT.2007.364110 en_US
dc.title Data association in bearing-only SLAM using a cost function-based approach en_US
dc.parent Proceeding of 2007 IEEE International Conference on Robotics and Automation en_US
dc.journal.volume en_US
dc.journal.number en_US
dc.publocation Piscataway, USA en_US
dc.identifier.startpage 4108 en_US
dc.identifier.endpage 4113 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.conference.location Roma, Italy en_US
dc.for 091300 en_US
dc.personcode 995424 en_US
dc.personcode 000935 en_US
dc.personcode 0000026022 en_US
dc.percentage 50 en_US
dc.classification.name Mechanical Engineering en_US
dc.classification.type FOR-08 en_US
dc.custom IEEE International Conference on Robotics and Automation en_US
dc.date.activity 20070410 en_US
dc.location.activity Roma, Italy en_US
dc.description.keywords Kalman filters SLAM (robots) mobile robots en_US


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