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Data Association in Bearing-Only SLAM using a Cost Function-based Approach

Data Association in Bearing-Only SLAM using a Cost Function-based Approach. N. M. Kwok (1) , Q. P. Ha (1) and G. Fang (2) (1) ARC Centre of Excellence for Autonomous Systems Faculty of Engineering, University of Technology, Sydney, Australia

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Data Association in Bearing-Only SLAM using a Cost Function-based Approach

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  1. Data Association in Bearing-Only SLAM using a Cost Function-based Approach N. M. Kwok(1), Q. P. Ha(1) and G. Fang(2) (1)ARC Centre of Excellence for Autonomous Systems Faculty of Engineering, University of Technology, Sydney, Australia (2)School of Engineering, University of Western Sydney, Australia • Associate between measurement and • registered features in EKF-based SLAM • Mahalanobis distance metric tests only power • of association decision • Cost function-based association accounts for • test of significance – interference from other measurements/features • Mitigates association ambiguities – improves • bearing-only SLAM performance Data association scenario Feature f1 lower cost Feature f2 higher cost

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