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

Ziya Uygar Yengin; Volkan Sezer

doi:10.18038/aubtda.487629

EN

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

Abstract

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.

Keywords

Simultaneous localization and mapping,fastslam,data association,particle filter

References

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Details

Primary Language

English

Subjects

-

Journal Section

-

Authors

Ziya Uygar Yengin
0000-0001-8657-837X
Türkiye

Volkan Sezer
0000-0001-9658-2153
Türkiye

Publication Date

June 1, 2019

Submission Date

-

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Year 2019 Volume: 20 Number: 2

DOI

https://doi.org/10.18038/aubtda.487629

IZ

https://izlik.org/JA68UZ33XC

APA

Yengin, Z. U., & Sezer, V. (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. https://doi.org/10.18038/aubtda.487629

AMA

1.Yengin ZU, Sezer V. A NOVEL DATA ASSOCIATION TECHNIQUE TO IMPROVE RUN-TIME EFFICIENCY OF SLAM ALGORITHMS. Estuscience - Se. 2019;20(2):179-194. doi:10.18038/aubtda.487629

Chicago

Yengin, Ziya Uygar, and Volkan Sezer. 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): 179-94. https://doi.org/10.18038/aubtda.487629.

EndNote

Yengin ZU, Sezer V (June 1, 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.

IEEE

[1]Z. U. Yengin and V. Sezer, “A NOVEL DATA ASSOCIATION TECHNIQUE TO IMPROVE RUN-TIME EFFICIENCY OF SLAM ALGORITHMS”, Estuscience - Se, vol. 20, no. 2, pp. 179–194, June 2019, doi: 10.18038/aubtda.487629.

ISNAD

Yengin, Ziya Uygar - Sezer, Volkan. “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 1, 2019): 179-194. https://doi.org/10.18038/aubtda.487629.

JAMA

1.Yengin ZU, Sezer V. A NOVEL DATA ASSOCIATION TECHNIQUE TO IMPROVE RUN-TIME EFFICIENCY OF SLAM ALGORITHMS. Estuscience - Se. 2019;20:179–194.

MLA

Yengin, Ziya Uygar, and Volkan Sezer. “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, vol. 20, no. 2, June 2019, pp. 179-94, doi:10.18038/aubtda.487629.

Vancouver

1.Ziya Uygar Yengin, Volkan Sezer. A NOVEL DATA ASSOCIATION TECHNIQUE TO IMPROVE RUN-TIME EFFICIENCY OF SLAM ALGORITHMS. Estuscience - Se. 2019 Jun. 1;20(2):179-94. doi:10.18038/aubtda.487629

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

Abstract

Keywords

Abstract

References

Details

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Subjects

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Published in Issue

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