A stochastic map for uncertain spatial relationships

  title={A stochastic map for uncertain spatial relationships},
  author={Randall Smith},
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
Highly Influential
This paper has highly influenced 35 other papers. REVIEW HIGHLY INFLUENTIAL CITATIONS
Highly Cited
This paper has 907 citations. REVIEW CITATIONS

From This Paper

Figures, tables, and topics from this paper.


Publications citing this paper.
Showing 1-10 of 310 extracted citations

JOMAR : Joint Operations with Mobile Autonomous Robots

View 8 Excerpts
Method Support
Highly Influenced

ICM: An efficient data association for SLAM in stochastic mapping

2012 12th International Conference on Control Automation Robotics & Vision (ICARCV) • 2012
View 9 Excerpts
Method Support
Highly Influenced

Large scale mapping using submaps

Proceedings of 2012 IEEE International Conference on Automation, Quality and Testing, Robotics • 2012
View 10 Excerpts
Highly Influenced

A random set formulation for Bayesian SLAM

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems • 2008
View 5 Excerpts
Highly Influenced

908 Citations

Citations per Year
Semantic Scholar estimates that this publication has 908 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.
Showing 1-10 of 15 references

Applied optimal estimation

Proceedings of the IEEE • 1976
View 6 Excerpts
Highly Influenced

Error Analysis of Spatial Representation and Estimation of Mobile Robots

C. M. Wang
General Motors Research Laboratories Publication GMR 5573. Warren, Mich. • 1986

The Representation, Recognition, and Locating of 3-D Objects

O. D. Faugeras, M. Hebert
Int. J. Robotics Res. 5(3):27-52. • 1986

Probability, random variables and stochastic processes

IEEE Trans. Acoustics, Speech, and Signal Processing • 1985
View 1 Excerpt

Test - Bed for Programmable Automation Research . Final Report - Phase 1 , SRI International , April 1984

R. C. Smith, P. Cheeseman

Test-Bed for Programmable Automation Research

Smith, C R.
Final Report-Phase 1, SRI International, • 1984