Semantic Scholar Open Access 1986 1970 sitasi

Estimating uncertain spatial relationships in robotics

Randall Smith Matthew Self P. Cheeseman

Lihat Sumber DOI

Abstrak

In this paper, we describe a representation for spatial information, called the stochastic map, and associated procedures for building it, reading information from it, and revising it incrementally as new information is obtained. The map contains the estimates of relationships among objects in the map, and their uncertainties, given all the available information. The procedures provide a general solution to the problem of estimating uncertain relative spatial relationships. The estimates are probabilistic in nature, an advance over the previous, very conservative, worst-case approaches to the problem. Finally, the procedures are developed in the context of state-estimation and filtering theory, which provides a solid basis for numerous extensions.

Topik & Kata Kunci

Mathematics Computer Science Engineering

Penulis (3)

Randall Smith

Matthew Self

P. Cheeseman

Format Sitasi

APA MLA BibTeX

Smith, R., Self, M., Cheeseman, P. (1986). Estimating uncertain spatial relationships in robotics. https://doi.org/10.1109/ROBOT.1987.1087846

Akses Cepat

Lihat di Sumber doi.org/10.1109/ROBOT.1987.1087846

Informasi Jurnal

Tahun Terbit: 1986
Bahasa: en
Total Sitasi: 1970×
Sumber Database: Semantic Scholar
DOI: 10.1109/ROBOT.1987.1087846
Akses: Open Access ✓