scholarly journals Validation of Data Association for Monocular SLAM

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Edmundo Guerra ◽  
Rodrigo Munguia ◽  
Yolanda Bolea ◽  
Antoni Grau
Keyword(s):  
Data Fusion ◽  
Data Association ◽  
Sensory Systems ◽  
Improve Performance ◽  
Compatibility Test ◽  
Monocular Slam ◽  
Slam Algorithm ◽  
Key Aspects

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.

Batch Gating for Data Association in Monocular SLAM

2013 ◽  
Vol 319 ◽  
pp. 295-301
Author(s):  
Edmundo Guerra ◽  
Rodrigo Munguia ◽  
Yolanda Bolea ◽  
Antoni Grau
Keyword(s):  
Search Algorithm ◽  
Data Association ◽  
Real Data ◽  
Single Camera ◽  
Data Validation ◽  
Compatibility Test ◽  
Monocular Slam ◽  
Validation Technique

This work describes the development and implementation of a single-camera SLAM system, introducing a novel data validation algorithm. A 6-DOF monocular SLAM method developed is based on the Delayed Inverse-Depth (DI-D) Feature Initialization, with the addition of a new data association batch validation technique, the Highest Order Hypothesis Compatibility Test, HOHCT. The DI-D initializes new features in the system defining single hypothesis for the initial depth of features by stochastic triangulation. The HOHCT is based on evaluation of statistically compatible hypotheses, and search algorithm designed to exploit the Delayed Inverse-Depth technique characteristics. Experiments with real data are presented in order to validate the performance of the system.

scholarly journals Information Quality Assessment for Data Fusion Systems

Data ◽  
2021 ◽  
Vol 6 (6) ◽  
pp. 60
Author(s):  
Miguel A. Becerra ◽  
Catalina Tobón ◽  
Andrés Eduardo Castro-Ospina ◽  
Diego H. Peluffo-Ordóñez
Keyword(s):  
Data Fusion ◽  
Information Quality ◽  
Engineering Process ◽  
Comprehensive Description ◽  
Research Issues ◽  
Fusion Systems ◽  
General Data ◽  
Fusion Engineering ◽  
And Performance ◽  
Key Aspects

This paper provides a comprehensive description of the current literature on data fusion, with an emphasis on Information Quality (IQ) and performance evaluation. This literature review highlights recent studies that reveal existing gaps, the need to find a synergy between data fusion and IQ, several research issues, and the challenges and pitfalls in this field. First, the main models, frameworks, architectures, algorithms, solutions, problems, and requirements are analyzed. Second, a general data fusion engineering process is presented to show how complex it is to design a framework for a specific application. Third, an IQ approach, as well as the different methodologies and frameworks used to assess IQ in information systems are addressed; in addition, data fusion systems are presented along with their related criteria. Furthermore, information on the context in data fusion systems and its IQ assessment are discussed. Subsequently, the issue of data fusion systems’ performance is reviewed. Finally, some key aspects and concluding remarks are outlined, and some future lines of work are gathered.

scholarly journals A Highest Order Hypothesis Compatibility Test for Monocular SLAM

10.5772/56737 ◽  
2013 ◽  
Vol 10 (8) ◽  
pp. 311
Author(s):  
Edmundo Guerra ◽  
Rodrigo Munguia ◽  
Yolanda Bolea ◽  
Antoni Grau
Keyword(s):  
Compatibility Test ◽  
Monocular Slam

New Method of Moving Targets Passive Tracking by Single Moving Observer Based on Measurement Data Fusion

2012 ◽  
Vol 239-240 ◽  
pp. 942-945
Author(s):  
Jie Gui Wang
Keyword(s):  
Data Fusion ◽  
Computer Simulations ◽  
Data Association ◽  
Measurement Data ◽  
Synthetic Data ◽  
Difficult Problem ◽  
Moving Targets ◽  
Passive Tracking ◽  
Multiple Measurements ◽  
New Location

Moving targets passive tracking by single moving observer is a difficult problem. A new location method based on measurement data fusion is proposed in this paper. Firstly, the adaptive passive tracking initiation algorithm is introduced. Secondly, a new data association algorithm is proposed, based on the data fusion of multiple measurements, the decision of synthetic data association is made. Finally, with the help of computer simulations, the proposed algorithms are proven to be correct and effective.

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