enum mrpt::slam::TDataAssociationMetric

Overview

Different metrics for data association, used in mrpt::slam::data_association For a comparison of both methods see paper: More…

#include <data_association.h>

enum TDataAssociationMetric
{
    metricMaha = 0,
    metricML,
};

Detailed Documentation

Different metrics for data association, used in mrpt::slam::data_association For a comparison of both methods see paper:

• J.L. Blanco, J. Gonzalez-Jimenez, J.A. Fernandez-Madrigal, “An alternative to the Mahalanobis distance for determining optimal correspondences in data association”, IEEE Transactions on Robotics (T-RO), (2012) DOI: 10.1109/TRO.2012.2193706 Draft: http://ingmec.ual.es/~jlblanco/papers/blanco2012amd.pdf

Enum Values

metricMaha

Mahalanobis distance.

metricML

Matching likelihood (See TDataAssociationMetric for a paper explaining this metric)