A Two-Stage Feature Point Detection and Marking Approach Based on the Labeled Multi-Bernoulli Filter

Abstract

In recent years, various algorithms using random finite sets (RFS) to solve the issue of simultaneous localization and mapping (SLAM) have been proposed. Compared with the traditional method, the advantage of the RFS method is that it can avoid data association, landmark appearance and disappearance, missed detections, and false alarms in Bayesian recursion. There are many problems in the existing robot SLAM methods, such as low estimation accuracy, poor back-end optimization, etc. On the basis of previous studies, this paper presents a labeled random finite set (L-RFS) SLAM method. We describe a scene where the sensor moves along a given path and avoids obstacles based on the L-RFS framework. Then, we use the labeled multi-Bernoulli filter (LMB) to estimate the state of the sensor and feature points. At the same time, the B-spline curve is used to smooth the obstacle avoidance path of the sensor. The effectiveness of the algorithm is verified in the final simulation.

Keywords

• LMB filter
• L-RFS
• feature point detection and marking