Joint compatibility branch and bound

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Joint compatibility branch and bound (JCBB) is an algorithm in computer vision and robotics commonly used for data association in simultaneous localization and mapping. JCBB measures the joint compatibility of a set of pairings that successfully rejects spurious matchings and is hence known to robust in complex environments.[1]


  1. ^ Neira, J. Tardos; Tardos, J.D. (2001), "Data association in stochastic mapping using the joint compatibility test" (PDF), Robotics and Automation, IEEE Transactions on, 17 (6): 890–897, doi:10.1109/70.976019