Data Association in Bearing-Only SLAM using a Cost Function-based Approach

• Associate between measurement and registered features in EKF-based SLAM

• Mahalanobis distance metric tests only power of association decision

• Cost function-based association accounts for test of significance – interference from other measurements/features

• Mitigates association ambiguities – improves bearing-only SLAM performance

N. M. Kwok(1), Q. P. Ha(1) and G. Fang(2)

(1)ARC Centre of Excellence for Autonomous SystemsFaculty of Engineering, University of Technology, Sydney, Australia

(2)School of Engineering, University of Western Sydney, Australia

Data association scenario

Feature f1 lower cost Feature f2 higher cost