Year 2019, Volume 20 , Issue 2, Pages 179 - 194 2019-06-01

A NOVEL DATA ASSOCIATION TECHNIQUE TO IMPROVE RUN-TIME EFFICIENCY OF SLAM ALGORITHMS

Volkan Sezer [1] , Ziya Uygar Engin [2]


Simultaneous Localization and Mapping (SLAM) problem is a very popular research area in robotic applications. EKF-SLAM and FastSLAM are widely used algorithms for SLAM problem. The greatest advantage of FastSLAM over EKF-SLAM is that it reduces the quadratic complexity of EKF-SLAM. On the other hand, increasing number of estimated landmarks naturally slows down the operation of FastSLAM. In this paper, we propose a new method called as Intelligent Data Association-SLAM (IDA-SLAM) which reduces this slowing down problem. In data association step also known as likelihood estimation, IDA-SLAM skips comparing a new landmark with all of the pre-calculated landmarks. Instead of this, it compares the newly found one with only nearby landmarks that was found previously. The simulation results indicate that the proposed algorithm significantly speeds up the operation of SLAM without a loss of state estimation accuracy. Real world experiments which have been performed in two different scenarios verify the simulation results. A runtime reduction of 43% and 52% is observed respectively for each of the test environments.
Simultaneous localization and mapping, fastslam, data association, particle filter
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Journal Section Articles
Authors

Author: Volkan Sezer

Author: Ziya Uygar Engin

Dates

Publication Date : June 1, 2019

Bibtex @ { estubtda598209, journal = {Eskişehir Technical University Journal of Science and Technology A - Applied Sciences and Engineering}, issn = {2667-4211}, address = {btda@anadolu.edu.tr}, publisher = {Eskişehir Teknik Üniversitesi}, year = {2019}, volume = {20}, pages = {179 - 194}, doi = {10.18038/aubtda.487629}, title = {A NOVEL DATA ASSOCIATION TECHNIQUE TO IMPROVE RUN-TIME EFFICIENCY OF SLAM ALGORITHMS}, key = {cite}, author = {Sezer, Volkan and Engin, Ziya Uygar} }
APA Sezer, V , Engin, Z . (2019). A NOVEL DATA ASSOCIATION TECHNIQUE TO IMPROVE RUN-TIME EFFICIENCY OF SLAM ALGORITHMS. Eskişehir Technical University Journal of Science and Technology A - Applied Sciences and Engineering , 20 (2) , 179-194 . DOI: 10.18038/aubtda.487629
MLA Sezer, V , Engin, Z . "A NOVEL DATA ASSOCIATION TECHNIQUE TO IMPROVE RUN-TIME EFFICIENCY OF SLAM ALGORITHMS". Eskişehir Technical University Journal of Science and Technology A - Applied Sciences and Engineering 20 (2019 ): 179-194 <https://dergipark.org.tr/en/pub/estubtda/issue/47408/598209>
Chicago Sezer, V , Engin, Z . "A NOVEL DATA ASSOCIATION TECHNIQUE TO IMPROVE RUN-TIME EFFICIENCY OF SLAM ALGORITHMS". Eskişehir Technical University Journal of Science and Technology A - Applied Sciences and Engineering 20 (2019 ): 179-194
RIS TY - JOUR T1 - A NOVEL DATA ASSOCIATION TECHNIQUE TO IMPROVE RUN-TIME EFFICIENCY OF SLAM ALGORITHMS AU - Volkan Sezer , Ziya Uygar Engin Y1 - 2019 PY - 2019 N1 - doi: 10.18038/aubtda.487629 DO - 10.18038/aubtda.487629 T2 - Eskişehir Technical University Journal of Science and Technology A - Applied Sciences and Engineering JF - Journal JO - JOR SP - 179 EP - 194 VL - 20 IS - 2 SN - 2667-4211- M3 - doi: 10.18038/aubtda.487629 UR - https://doi.org/10.18038/aubtda.487629 Y2 - 2019 ER -
EndNote %0 Eskişehir Technical University Journal of Science and Technology A - Applied Sciences and Engineering A NOVEL DATA ASSOCIATION TECHNIQUE TO IMPROVE RUN-TIME EFFICIENCY OF SLAM ALGORITHMS %A Volkan Sezer , Ziya Uygar Engin %T A NOVEL DATA ASSOCIATION TECHNIQUE TO IMPROVE RUN-TIME EFFICIENCY OF SLAM ALGORITHMS %D 2019 %J Eskişehir Technical University Journal of Science and Technology A - Applied Sciences and Engineering %P 2667-4211- %V 20 %N 2 %R doi: 10.18038/aubtda.487629 %U 10.18038/aubtda.487629
ISNAD Sezer, Volkan , Engin, Ziya Uygar . "A NOVEL DATA ASSOCIATION TECHNIQUE TO IMPROVE RUN-TIME EFFICIENCY OF SLAM ALGORITHMS". Eskişehir Technical University Journal of Science and Technology A - Applied Sciences and Engineering 20 / 2 (June 2019): 179-194 . https://doi.org/10.18038/aubtda.487629
AMA Sezer V , Engin Z . A NOVEL DATA ASSOCIATION TECHNIQUE TO IMPROVE RUN-TIME EFFICIENCY OF SLAM ALGORITHMS. Eskişehir Technical University Journal of Science and Technology A - Applied Sciences and Engineering. 2019; 20(2): 179-194.
Vancouver Sezer V , Engin Z . A NOVEL DATA ASSOCIATION TECHNIQUE TO IMPROVE RUN-TIME EFFICIENCY OF SLAM ALGORITHMS. Eskişehir Technical University Journal of Science and Technology A - Applied Sciences and Engineering. 2019; 20(2): 194-179.