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This paper illustrates the reason why revisable data association is needed for the simultaneous localization and mapping (SLAM) of mobile robots, and an incremental SLAM algorithm with backtrack searching data association is presented. Our approach uses a tree model called correspondence tree (CT) to represent the solution space of the data association problem. CT is layered according to time steps...
This paper focuses on the reciprocity between data association and state estimation in the simultaneous localization and mapping (SLAM) problem for mobile robot, and an incremental SLAM algorithm with backtracking data association is presented. Our approach uses a tree model called correspondencetree (CT) to represent the solution space of the data association problem. CT is layered according to...
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