An Alternative to the Mahalanobis Distance for Determining Optimal Correspondences in Data Association

作者：Blanco Jose Luis^*; Gonzalez Jimenez Javier; Fernandez Madrigal Juan Antonio

来源：IEEE Transactions on Robotics, 2012, 28(4): 980-986.

DOI：10.1109/TRO.2012.2193706

• Data association (DA)
• simultaneous localization and mapping (SLAM)

The most common criteria to determine data association rely on minimizing the squared Mahalanobis distance (SMD) between observations and predictions. We hold that the SMD is just a heuristic, while the alternative matching likelihood is the optimal statistic to be maximized. Thorough experiments undoubtedly confirm this idea, with false positive reductions of up to 16%.

• 出版日期2012-8