Page 362 - Autonomous Mobile Robots

352 Autonomous Mobile Robots

(a)
6

4

2
y
0 x

– 2

– 4

– 6
– 6 – 4 – 2 0 2 4 6 8 10
(b)
6

4

2

0

– 2

– 4

– 6
– 6 – 4 – 2 0 2 4 6 8 10

FIGURE 9.5 Data association using JCBB without odometry: (a) laser data in the abso-
lute reference with null vehicle motion; (b) map and vehicle trajectory resulting from
the SLAM algorithm.

angle between two segments). For stochastic geometric constraint validation in
SLAM, see Reference 33.
Grimson [30] proposed a branch and bound algorithm for model-based
geometric object recognition that uses unary and binary geometric constraints.
A closely related technique also used in object recognition consists in building

© 2006 by Taylor & Francis Group, LLC

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