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Data association using empty convex polygonal regions in EKF-SLAM
2010
2010 IEEE International Conference on Robotics and Biomimetics
This paper proposes a new framework for data association to solve the problem of SLAM. The proposed framework has specific relevance to range scanner based EKF-SLAM. The resulting data representation enables semantic reasoning on a spatial level which reduces the misassociation of closely spaced data from different spatial configurations through the use of convex polygons to represent data from similar spatial configurations. The data representation is especially effective for association when
doi:10.1109/robio.2010.5723430
dblp:conf/robio/KosuruPK10
fatcat:6mhmktmkynbxrk67i2opo7zrju