Data Association for A Hybrid Metric Map Representation

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	Data Association for A Hybrid Metric Map Representation
	Ma SG(马书根); Guo S(郭帅); Wang MH(王明辉); Li B(李斌)
	2012
会议名称	IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2012)
会议日期	September 13-15, 2012
会议地点	Hamburg, Germany
页码	168-173
中文摘要	This paper presents an approach to solve the data association problem for a hybrid metric map representation. The hybrid metric map representation uses Voronoi diagram to partition the global map space into a series of local subregions, and then a local dense map is built in each subregion. Finally the global feature map and the local maps make up of the hybrid metric map, which can represent all the observed environment. In the proposed map representation, there exists an important property that global feature map and local maps have clear one-to-one correspondence. Benefited from this property, an identifying rule of the data association based on compatibility testing is proposed. The identifying rule can efficiently reject the wrong data association hypothesis in the application of dense environment. Two experiments validated the efficiency of data association approach and also demonstrated the feasibility of the hybrid metric map presentation.
收录类别	EI
产权排序	1
会议主办者	IEEE Robotics and Automation Society
会议录	Proceedings of the IEEE International Conference on Multisensor Fusion and Information Integration
会议录出版者	IEEE
会议录出版地	New York, USA
语种	英语
ISBN号	978-1-4673-2511-0
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/10196]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Ma SG,Guo S,Wang MH,et al. Data Association for A Hybrid Metric Map Representation[C]. 见:IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2012). Hamburg, Germany. September 13-15, 2012.