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Mathematical Problems in Engineering
Volume 2013, Article ID 671376, 11 pages
http://dx.doi.org/10.1155/2013/671376
Research Article

Validation of Data Association for Monocular SLAM

1Automatic Control Department, Technical University of Catalonia UPC, 08034 Barcelona, Spain
2Computer Science Department, CUCEI, University of Guadalajara, 44430 Guadalajara, Mexico

Received 25 November 2012; Revised 27 February 2013; Accepted 15 March 2013

Academic Editor: Quang Phuc Ha

Copyright © 2013 Edmundo Guerra et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

Simultaneous Mapping and Localization (SLAM) is a multidisciplinary problem with ramifications within several fields. One of the key aspects for its popularity and success is the data fusion produced by SLAM techniques, providing strong and robust sensory systems even with simple devices, such as webcams in Monocular SLAM. This work studies a novel batch validation algorithm, the highest order hypothesis compatibility test (HOHCT), against one of the most popular approaches, the JCCB. The HOHCT approach has been developed as a way to improve performance of the delayed inverse-depth initialization monocular SLAM, a previously developed monocular SLAM algorithm based on parallax estimation. Both HOHCT and JCCB are extensively tested and compared within a delayed inverse-depth initialization monocular SLAM framework, showing the strengths and costs of this proposal.