Two Measures for Enhancing Data Association Performance in SLAM

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="326820.fig.003a" src="https://static.hindawi.com/articles/js/volume-2014/326820/figures/326820.fig.003a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Robot path estimated with the inertial sensor</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="326820.fig.003b" src="https://static.hindawi.com/articles/js/volume-2014/326820/figures/326820.fig.003b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>SLAM results of data association approach in [<a href="/journals/js/2014/326820/#B15">15</a>]</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="326820.fig.003c" src="https://static.hindawi.com/articles/js/volume-2014/326820/figures/326820.fig.003c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>SLAM results with the enhancing measures in this paper</td></tr></table></td></tr></table>

<table>Experimental results with the “Victoria Park Dataset.”</table>

Journal of Sensors

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Figure 3

Figure 3: Two Measures for Enhancing Data Association Performance in SLAM 