Hybrid Approach of Data Association in Mobile Robot SLAM
Data association is a difficult problem in Simultaneous Localization and Mapping(SLAM) for mobile robot.This paper presents a hybrid approach of data association based on local maps by combining the classic Individual Compatibility Nearest Neighbor(ICNN) algorithm and Joint Compatibility Branch and Bound(JCBB) algorithm.First,ICNN is used for data association in the local map,and the correctness of the result is determined.If the result is incorrect,JCBB is used to correct the result in the local area around mismatched points.The experimental results show that the performance of the proposed method is satisfactory on the speed and accuracy,even in the complex environments.