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New validation algorithm for data association in SLAM
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DOI：10.1016/j.isatra.2013.04.008.png)
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Abstract
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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. (C) 2013 ISA. Published by Elsevier Ltd. All rights reserved.
Keywords:
Monocular SLAM
Robotics
Only-bearing sensor
Data association
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