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To solve the problem that the data association (DA) algorithm based only on Mahalanobis distance cannot ensure to produce correct results, this paper proposes a data association approach based on multi-rules, which has utilized the characteristic of the hybrid metric map representation, adopted in VorSLAM. This approach consists of the rule of local searching, the rule of unidirectivity existing in...
In this paper we present a hybrid metric map representation, which partitions the global map space into a series of local subregions by operating Voronoi diagram on global feature map and builds a local dense map in each subregion. Compared with the existing hybrid metric map representation [1] [2] (HYMM), this new hybrid metric map representation has the following advantages: First, the Voronoi diagram...
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