Doh, N.L. Chung, W.K. Lee, S. Oh, S. You, B. 2024-01-12T08:45:24Z 2024-01-12T08:45:24Z 2022-03-07 2003-10 0000-0000 https://pubs.kist.re.kr/handle/201004/82632 In this paper, an algorithm for hyper symmetric environment Simultaneous Localization And Mapping(SLAM) is developed based on the generalized Voronoi graph. The hyper symmetric environment is a challenging environment for the SLAM and the most difficult problem on this is a data association. To redeem this problem, we propose three techniques. The first one is a breadth first node navigation algorithm which highly reduces the complexity of the data association. The second scheme is an odometry calibration method which converts untrustable odometry into reliable one. The third method is a multi layered data association scheme. We integrate above three techniques into one framework and propose a SLAM algorithm for the hyper symmetric environment. The simulation result shows that the proposed algorithm can successfully cover a large hyper symmetric environment under 20% odometry uncertainty. English A Robust General Voronoi Graph based SLAM for a Hyper Symmetric Environment Conference 1 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.218 - 223 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems 218 223 US Las Vegas, NV 2003-10-27 IEEE International Conference on Intelligent Robots and Systems 2-s2.0-0347410641