Corpus ID: 9320344

A stochastic map for uncertain spatial relationships

  title={A stochastic map for uncertain spatial relationships},
  author={Randall C. Smith and Matthew Self and Peter C. Cheeseman},
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… Expand
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  • P. Payeur
  • Computer Science
  • 2002 IEEE International Symposium on Virtual and Intelligent Measurement Systems (IEEE Cat. No.02EX545)
  • 2002
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  • Mathematics, Computer Science
  • 2012 IEEE International Conference on Robotics and Automation
  • 2012
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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, providing a general solution to the problem of estimating uncertain relative spatial relationships. Expand
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  • H. Durrant-Whyte
  • Computer Science
  • Proceedings. 1986 IEEE International Conference on Robotics and Automation
  • 1986
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  • Engineering, Computer Science
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  • 1985
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  • R. Bolle, D. Cooper
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