| 基于动态阈值启发式图搜索的SLAM算法 |
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| 引用本文： | 冯林,柴红霞,孙焘,殷志远.基于动态阈值启发式图搜索的SLAM算法[J].计算机工程,2011,37(17):185-187,196. |
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| 作者姓名： | 冯林 柴红霞 孙焘 殷志远 |
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| 作者单位： | 大连理工大学创新实验学院,辽宁大连,116023 |
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| 基金项目： | 国家自然科学基金资助项目“高维时间序列数据挖掘”(60773213); 辽宁省自然科学基金资助项目(20071092) |
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| 摘 要： | 针对当前多数SLAM数据关联算法存在不能在线修正的问题,提出一种使用动态阈值的启发式图搜索数据关联算法.该方法使用回溯机制实现对错误数据的修正,在搜索过程中使用动态阈值进行门限过滤,减少可能的数据关联的数目,在不降低数据关联正确率的情况下,提高数据关联效率.仿真实验结果表明,该算法可有效地降低运算时间.
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| 关 键 词： | 数据关联 启发式图搜索 动态阈值 在线修正 回溯 |
| 收稿时间： | 2011-02-25 |
SLAM Algorithm Based on Heuristic Graph Search with Dynamic Threshold |
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| FENG Lin,CHAI Hong-xia,SUN Tao,YIN Zhi-yuan.SLAM Algorithm Based on Heuristic Graph Search with Dynamic Threshold[J].Computer Engineering,2011,37(17):185-187,196. |
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| Authors: | FENG Lin CHAI Hong-xia SUN Tao YIN Zhi-yuan |
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| Affiliation: | FENG Lin,CHAI Hong-xia,SUN Tao,YIN Zhi-yuan(School of Innovation Experiment,Dalian University of Technology,Dalian 116023,China) |
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| Abstract: | Aiming at the problem that most of data association algorithm can't amend past error associations on line,this paper presents a heuristic graph search algorithm which uses dynamic threshold.The algorithm uses recall to reach amend past error associations and uses dynamic threshold to reduce the number of probable data association.The algorithm doesn't lower the accuracy of data association but raise the efficiency of data association.Experimental result shows that the algorithm takes less times. |
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| Keywords: | data association heuristic graph search dynamic threshold correction on line recall |
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