Browse > Article
http://dx.doi.org/10.7736/KSPE.2016.33.2.129

Data Association of Robot Localization and Mapping Using Partial Compatibility Test  

Yan, Rui Jun (Department of Mechatronics Engineering, Hanyang University)
Choi, Youn Sung (Department of Mechanical Engineering, Hanyang University)
Wu, Jing (Department of Mechatronics Engineering, Hanyang University)
Han, Chang Soo (Department of Robot Engineering, Hanyang University)
Publication Information
Journal of the Korean Society for Precision Engineering / v.33, no.2, 2016 , pp. 129-138 More about this Journal
Abstract
This paper presents a natural corners-based SLAM (Simultaneous Localization and Mapping) with a robust data association algorithm in a real unknown environment. Corners are extracted from raw laser sensor data, which are chosen as landmarks for correcting the pose of mobile robot and building the map. In the proposed data association method, the extracted corners in every step are separated into several groups with small numbers of corners. In each group, local best matching vector between new corners and stored ones is found by joint compatibility, while nearest feature for every new corner is checked by individual compatibility. All these groups with local best matching vector and nearest feature candidate of each new corner are combined by partial compatibility with linear matching time. Finally, SLAM experiment results in an indoor environment based on the extracted corners show good robustness and low computation complexity of the proposed algorithms in comparison with existing methods.
Keywords
SLAM; Partial compatibility test; Data association; Partial compatibility branch and bound; Nearest unit-matching branch and bound;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 Yan, R.-J., Wu, J., Lee, J. Y., and Han, C.-S., "Representation of 3D Environment Map Using BSpline Surface with Two Mutually Perpendicular LRFs," Mathematical Problems in Engineering, Vol. 501, Paper No. 690310, 2015.
2 Arras, K. O. and Siegwart, R. Y., "Feature Extraction and Scene Interpretation for Map-Based Navigation and Map Building," Proc. of the International Society for Optics and Photonics on Intelligent Systems & Advanced Manufacturing, pp. 42-53, 1998.
3 Yan, R., Wu, J., Wang, W., Lim, S., Lee, J., et al., "Natural Corners Extraction Algorithm in 2D Unknown Indoor Environment with Laser Sensor," Proc. of the IEEE International Conference on Control, Automation and Systems, pp. 983-987, 2012.
4 Neira, J. and Tardos, J. D., "Data Association in Stochastic Mapping Using the Joint Compatibility Test," IEEE Transactions on Robotics and Automation, Vol. 17, No. 6, pp. 890-897, 2001.   DOI
5 Kaess, M., Ranganathan, A., and Dellaert, F., "iSAM: Incremental Smoothing and Mapping," IEEE Transactions on Robotics, Vol. 24, No. 6, pp. 1365-1378, 2008.   DOI
6 Castellanos, J., Montiel, J., Neira, J., and Tardos, J. D., "The SPmap: A Probabilistic Framework for Simultaneous Localization and Map Building," IEEE Transactions on Robotics and Automation, Vol. 15, No. 5, pp. 948-952, 1999.   DOI
7 Feder, H. J. S., Leonard, J. J., and Smith, C. M., "Adaptive Mobile Robot Navigation and Mapping," The International Journal of Robotics Research, Vol. 18, No. 7, pp. 650-668, 1999.   DOI
8 Yan, R. J., Choi, Y. S., Wu, J., and Han, C. S., "Arc/Line Segments-Based SLAM by Updating Accumulated Sensor Data," Journal of Institute of Control, Robotics and Systems, Vol. 21, No. 10, pp. 936-943, 2015.   DOI
9 Choi, K.-S. and Lee, S.-G., "Enhanced Slam for a Mobile Robot Using Extended Kalman Filter and Neural Networks," Int. J. Precis. Eng. Manuf., Vol. 11, No. 2, pp. 255-264, 2010.   DOI
10 Mata, M., Armingol, J. M., De La Escalera, A., and Salichs, M. A., "A Visual Landmark Recognition System for Topological Navigation of Mobile Robots," Proc. of the IEEE International Conference on Robotics and Automation, pp. 1124-1129, 2001.
11 Guanghui, L. and Zhijian, J., "An Artificial Landmark Design Based on Mobile Robot Localization and Navigation," Proc. of the IEEE International Conference on Intelligent Computation Technology and Automation, pp. 588-591, 2011.
12 Meyer-Delius, D., Beinhofer, M., Kleiner, A., and Burgard, W., "Using Artificial Landmarks to Reduce the Ambiguity in the Environment of a Mobile Robot," Proc. of the IEEE International Conference on Robotics and Automation, pp. 5173-5178, 2011.
13 Ronzoni, D., Olmi, R., Secchi, C., and Fantuzzi, C., "AGV Global Localization Using Indistinguishable Artificial Landmarks," Proc. of the IEEE International Conference on Robotics and Automation, pp. 287-292, 2011.
14 Yan, R.-J., Wu, J., Yuan, C., and Han, C.-S., "Extraction of Different Types of Geometrical Features from Raw Sensor Data of Two-Dimensional LRF," Journal of Institute of Control, Robotics and Systems, Vol. 21, No. 3, pp. 265-275, 2015.   DOI
15 Nguyen, V., Gachter, S., Martinelli, A., Tomatis, N., and Siegwart, R., "A Comparison of Line Extraction Algorithms Using 2D Range Data for Indoor Mobile Robotics," Autonomous Robots, Vol. 23, No. 2, pp. 97-111, 2007.   DOI
16 Li, Y., Li, S., Song, Q., Liu, H., and Meng, M. Q.-H., "Fast and Robust Data Association Using Posterior Based Approximate Joint Compatibility Test," IEEE Transactions on Industrial Informatics, Vol. 10, No. 1, pp. 331-339, 2014.   DOI
17 Perez, L. M. P., "Divide and Conquer: EKF SLAM in O(n)," IEEE Transactions on Robotics and Automation, Vol. 24, pp. 1107-1120, 2008.   DOI
18 Paz, L. M., Pinies, P., Tardos, J. D., and Neira, J., "Large-Scale 6-DOF Slam with Stereo-in-Hand," IEEE Transactions on Robotics, Vol. 24, No. 5, pp. 946-957, 2008.   DOI
19 Temeltas, H. and Kayak, D., "Slam for Robot Navigation," IEEE Transactions on Aerospace and Electronic Systems Magazine, Vol. 23, No. 12, pp. 16-19, 2008.
20 Wijesoma, W. S., Perera, L. L., and Adams, M. D., "Toward Multidimensional Assignment Data Association in Robot Localization and Mapping," IEEE Transactions on Robotics, Vol. 22, No. 2, pp. 350-365, 2006.   DOI
21 Blanco, J.-L., Gonzalez-Jimenez, J., and Fernandez-Madrigal, J.-A., "An Alternative to the Mahalanobis Distance for Determining Optimal Correspondences in Data Association," IEEE Transactions on Robotics, Vol. 28, No. 4, pp. 980-986, 2012.   DOI
22 Zhang, S., Xie, L., and Adams, M., "An Efficient Data Association Approach to Simultaneous Localization and Map Building," The International Journal of Robotics Research, Vol. 24, No. 1, pp. 49-60, 2005.   DOI