2020
DOI: 10.1109/access.2019.2962236
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Optimized Data Association Based on Gaussian Mixture Model

Abstract: Data association is the foundation of state estimation in mobile robot simultaneous localization and mapping. Aiming at the problems of false association, high computational complexity in joint compatible branch and bound algorithm, we propose an optimized joint compatible branch and bound data association algorithm based on Gaussian mixture clustering. Firstly, the local association strategy is adopted to limit data association in local region, so as to reduce the number of features involved in data associati… Show more

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