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— This paper addresses the problem of large scale terrain modeling for a mobile robot. Building a model of large scale terrain data that can adequately handle uncertainty and incompleteness in a statistically sound way is a very challenging problem. This work proposes the use of Gaussian Processes as models of large scale terrain. The proposed model(More)
We present algorithms for the generation of uniformly distributed Bayesian networks with constraints on induced width. The algorithms use ergodic Markov chains to generate samples. The introduction of constraints on induced width leads to realistic networks but requires new techniques. A tool that generates random networks is presented and applications are(More)
— Place recognition is a challenging task in any SLAM system. Algorithms based on visual appearance are becoming popular to detect locations already visited, also known as loop closures, because cameras are easily available and provide rich scene detail. These algorithms typically result in pairs of images considered depicting the same location. To avoid(More)
(2005) A statistical framework for natural feature representation. (c) 2007 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or(More)
This paper presents a supervised learning algorithm for image feature matching. The algorithm is based on Conditional Random Fields which provides a mechanism for globally reason about the associations. The novelty of this work is twofold: (i) the use of Delaunay triangulation as the graph structure for a probabilis-tic network to reason about image feature(More)
One of the primary aspects of sustainable development involves accurate understanding and modeling of environmental phenomena. Many of these phenomena exhibit variations in both space and time and it is imperative to develop a deeper understanding of techniques that can model space-time dynamics accurately. In this paper we propose NOSTILL-GP-NOn-stationary(More)
—A key challenge for long-term autonomy is to enable a robot to automatically model properties of the environment while actively searching for better decisions to accomplish its task. This amounts to the problem of exploration-exploitation in the context of active perception. This paper addresses active perception and presents a technique to incrementally(More)