Toward multidimensional assignment data association in robot localization and mapping

IEEE Transactions on Robotics

Volumn 22, Issue 2, 2006, Pages 350-365

  Wijesoma, W Sardha ^a   Perera, L D L ^a   Adams, Martin D ^a  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

Author keywords

Data association; Localization; Robot navigation; Tracking

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; NAVIGATION; ROBOTICS; TRACKING (POSITION);

DATA ASSOCIATION; MULTIDIMENSIONAL ASSIGNMENT; ROBOT NAVIGATION; SIMULTANEOUS LOCALIZATION AND MAP BUILDING;

MOBILE ROBOTS;

EID: 33645835195     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2006.870634     Document Type: Article

References (25)

1. R. Smith, M. Self, and P. Cheeseman, "A stochastic map for uncertain spatial relationships," in Proc. 4th Int. Symp. Robot. Res., 1987, pp. 467-474.
2. J. J. Leonard and H. F. Durrant-Whyte, "Mobile robot localization by tracking geometric beacons," IEEE Trans. Robot. Autom., vol. 7, no. 3, pp. 376-382, Jun. 1991.
3. M. W. M. G. Dissanayake, P. Newman, S. Clark, H. F. Durrant-Whyte, and M. Csorba, "A solution to the simultaneous localization and map building (SLAM) problem," IEEE Trans. Robot. Autom., vol. 17, no. 3, pp. 229-241, Jun. 2001.
4. Y. Bar-Shalom and T. E. Fortman, Tracking and Data Association. Orlando, FL: Academic, 1988, vol. 179, Mathematics in Science and Engineering.
5. D. B. Reid, "An algorithm for tracking multiple targets," IEEE Trans. Autom. Control, vol. AC-24, no. 6, pp. 843-854, Dec. 1979.
6. C. L. Morefield, "Application of 0-1 integer programming to multi-target tracking problems," IEEE Trans. Autom. Control, vol. AC-22, no. 3, pp. 302-312, Jun. 1977.
7. A. B. Poore and A. J. Robertson, "A new multidimensional data association algorithm for multisensor multitarget tracking," Proc. SPIE, vol. 2561, pp. 448-459, Jul. 1995.
8. S. Deb, K. R. Pattipati, B. S. Yaakov, and M. Yeddanapudi, "A generalized S-D assignment algorithm for multisensor-multitarget state estimation," in Proc. 33rd Conf. Decision Control, Lake Buena, FL, Dec. 1994, pp. 3293-3298.
9. X. Li, Z. Q. Luo, K. M. Wong, and E. Bosse, "An interior point linear programming approach to two-scan data association," IEEE Trans. Aerosp. Electron. Syst., vol. 35, no. 2, pp. 474-490, Apr. 1999.
10. A. Doucet, N. de Freitas, K. Murphy, and S. Russell, "Rao-Blackwellised particle filters for dynamic Bayesian networks," in Proc. Uncertainty in AI, 2000, pp. 176-183.
11. M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit, "FastSLAM: A factored solution to the simultaneous localization and mapping problem," in Proc. AAAI Nat. Conf. Artif. Intell., Edmonton, AB, Canada, 2002, pp. 593-598.
12. Y. Zhang, "Solving large scale linear programs by interior point methods under MATLAB environment," Dept. Math. Statist., Univ. Maryland, Baltimore, Tech. Rep. TR96-01, Jul. 1995.
13. T. Baily, "Mobile robot localization and mapping in extensive outdoor environments," Ph.D. dissertation, Australian Centre for Field Robotics, Dept. Aerosp., Mech. Mechatron. Eng., Univ. of Sydney, Sydney, Australia, Aug. 2002.
14. S. Blackman and R. Popoli, Design and Analysis of Modern Tracking Systems. Boston, MA: Artech House, 1999.
15. J. Dezert and Y. Bar-Shalom, "Joint probabilistic data association for autonomous navigation," IEEE Trans. Aerosp. Electron. Syst., vol. 29, no. 4, pp. 1275-1286, Oct. 1993.
16. D. Maksarov and H. Durrant Whyte, "Mobile vehicle navigation in unknown environments: A multiple hypothesis approach," Proc. IEE Control Theory Appl., vol. 142, no. 4, pp. 385-400, Jul. 1995.
17. J. E. Guivant and E. Nebot, "Optimization of the simultaneous localization and map-building algorithm for real-time implementation," IEEE Trans. Robot. Autom., vol. 17, no. 3, pp. 242-257, Jun. 2001.
18. J. J. Leonard and H. J. S. Feder, "Decoupled stochastic mapping," IEEE J. Ocean. Eng., vol. 26, no. 4, pp. 561-571, Oct. 2001.
19. J. K. Uhlmann, "Dynamic map building and localization: New theoretical foundations," Ph.D. dissertation, Robot. Res. Group, Dept. Eng. Sci., Oxford Univ., Oxford, U.K., 1995.
20. H. Chen, T. Kirubarajan, and Y. Bar-Shalom, "Tracking of spawning targets with multiple finite resolution sensors," in Proc. 5th Int. Conf. Inf. Fusion, Annapolis, MD, 2002, vol. 2, pp. 943-950.
21. N. Karmarkar, "A new polynomial-time algorithm for linear programming," Combinatorica, vol. 4, pp. 373-395, 1984.
22. J. E. Guivant, F. R. Mason, and E. M. Nebot, "Simultaneous localization and map building using natural features and absolute information," Robot. Auton. Syst., vol. 40, pp. 79-90, Aug. 2002.
23. J. Neira and J. D. Tardos, "Data association in stochastic mapping using the joint compatibility test," IEEE Trans. Robot. Autom., vol. 17, no. 6, pp. 890-897, Dec. 2001.
24. D. Haehnel, W. Burgard, B. Wegbreit, and S. Thrun, "Toward lazy data association in SLAM," in Proc. 11th Int. Symp. Robot. Res., Sienna, Italy, 2003, pp. 211-217.
25. J. Nieto, J. Guivant, E. Nebot, and S. Thrun, "Real time data association for FastSLAM.," in Proc. IEEE Int. Conf. Robot. Autom., Taipei, Taiwan, R.O.C., Sep. 14-19, 2003, pp. 412-418.