A Joint Data Association Method for Laser-SLAM of Unmanned Delivery Vehicle Based on Heuristic Search Algorithm

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left">Algorithm</td><td class="align_center">Environment I<br/><svg height="8.80315pt" id="M146" style="vertical-align:-0.04981041pt" version="1.1" viewbox="-0.0498162 -8.75334 18.133 8.80315" width="18.133pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M673 0V28C608 34 594 43 563 129C499 303 432 494 370 665L339 656L132 132C98 43 84 37 20 28V0H238V28C162 35 154 45 175 108C188 150 203 192 219 237H432C454 176 474 122 487 83S491 36 428 28V0H673ZM418 280H234C265 362 296 450 328 535H330L418 280Z"></path></g><g transform="matrix(.013,0,0,-0.013,8.983,0)"><path d="M673 0V28C608 34 594 43 563 129C499 303 432 494 370 665L339 656L132 132C98 43 84 37 20 28V0H238V28C162 35 154 45 175 108C188 150 203 192 219 237H432C454 176 474 122 487 83S491 36 428 28V0H673ZM418 280H234C265 362 296 450 328 535H330L418 280Z"></path></g></svg></td><td class="align_center">Environment II<br/><svg height="8.80315pt" id="M147" style="vertical-align:-0.04981041pt" version="1.1" viewbox="-0.0498162 -8.75334 18.133 8.80315" width="18.133pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M673 0V28C608 34 594 43 563 129C499 303 432 494 370 665L339 656L132 132C98 43 84 37 20 28V0H238V28C162 35 154 45 175 108C188 150 203 192 219 237H432C454 176 474 122 487 83S491 36 428 28V0H673ZM418 280H234C265 362 296 450 328 535H330L418 280Z"></path></g><g transform="matrix(.013,0,0,-0.013,8.983,0)"><path d="M673 0V28C608 34 594 43 563 129C499 303 432 494 370 665L339 656L132 132C98 43 84 37 20 28V0H238V28C162 35 154 45 175 108C188 150 203 192 219 237H432C454 176 474 122 487 83S491 36 428 28V0H673ZM418 280H234C265 362 296 450 328 535H330L418 280Z"></path></g></svg></td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">HSA-JDA</td><td class="align_center">0.9429</td><td class="align_center">0.9871</td></tr><tr><td class="align_left">DFJCBB</td><td class="align_center">0.9407</td><td class="align_center">0.9813</td></tr><tr><td class="align_left">JCBB</td><td class="align_center">0.9258</td><td class="align_center">0.9792</td></tr><tr><td class="align_left">SCNN</td><td class="align_center">0.8870</td><td class="align_center">0.9757</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Association accuracy of four algorithms.</div>

Journal of Sensors

tab4

Table 4

Table 4: A Joint Data Association Method for Laser-SLAM of Unmanned Delivery Vehicle Based on Heuristic Search Algorithm 