Corpus ID: 9320344

A stochastic map for uncertain spatial relationships

  title={A stochastic map for uncertain spatial relationships},
  author={R. Smith and Matthew Self and P. Cheeseman},
  • R. Smith, Matthew Self, P. Cheeseman
  • Published 1988
  • Computer Science
  • In this paper we will describe a representation for spatial relationships which makes explicit their inherent uncertainty. We will show ways to manipulate them to obtain estimates of relationships and associated uncertainties not explicitly given, and show how decisions to sense or act can be made a priori based on those estimates. We will show how new constraint information, usually obtained by measurement, can be used to update the world model of relationships consistently, and in some… CONTINUE READING

    Figures and Topics from this paper.

    Explore Further: Topics Discussed in This Paper

    Data association in stochastic mapping using the joint compatibility test
    • 790
    • PDF
    Bayesian inference in the space of topological maps
    • 104
    • PDF
    Robotic Mapping Using Measurement Likelihood Filtering
    • 22
    • PDF
    Stochastic mapping frameworks
    • 16
    • PDF
    The SPmap: a probabilistic framework for simultaneous localization and map building
    • 354
    • PDF
    Using occupancy grids for mobile robot perception and navigation
    • 2,010
    • PDF
    Consensus of stochastic maps
    • 1
    • PDF


    Publications referenced by this paper.
    Estimating uncertain spatial relationships in robotics
    • 713
    • PDF
    Consistent integration and propagation of disparate sensor observations
    • 120
    Position referencing and consistent world modeling for mobile robots
    • 625
    • PDF
    On Optimally Combining Pieces of Information, with Application to Estimating 3-D Complex-Object Position from Range Data
    • 182
    The Representation, Recognition, and Locating of 3-D Objects
    • 896
    Applied Optimal Estimation
    • 5,200
    • Highly Influential
    • PDF
    Symbolic Error Analysis and Robot Planning
    • 263
    • PDF
    Robot Manipulators: Mathematics, Programming, and Control
    • 2,363