Voronoi Graph Matching for Data Association

  • Jan Oliver WallgrünEmail author


In this chapter, we will be concerned with the problem of identifying correct correspondences between an AGVG extracted from local information about the robot’s surroundings and the memorized map AGVG. Identifying the correct correspondences is a crucial step for complementing the map AGVG incrementally by inserting newly perceived parts from the local AGVGs and for localization in general. We develop a matching approach based on the notion of edit distance that compares the graph structures and the annotations of the AGVGs. Results from the previous chapter with regard to assessing the stability of Voronoi nodes are incorporated into the matching process in order to adequately deal with potential variations in the AGVGs.


Edit Distance Data Association Unary Constraint Graph Match Matched Node 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  1. 1.Cognitive Systems Group Department of Mathematics and InformaticsUniversity of BremenBremenGermany

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