Distributed consistent data association via permutation synchronization

  title={Distributed consistent data association via permutation synchronization},
  author={Spyridon Leonardos and Xiaowei Zhou and Kostas Daniilidis},
  journal={2017 IEEE International Conference on Robotics and Automation (ICRA)},
Data association is one of the fundamental problems in multi-sensor systems. Most current techniques rely on pairwise data associations which can be spurious even after the employment of outlier rejection schemes. Considering multiple pairwise associations at once significantly increases accuracy and leads to consistency. In this work, we propose a fully decentralized method for globally consistent data association from pairwise data associations based on a distributed averaging scheme on the… CONTINUE READING

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