Contextual occupancy maps incorporating sensor and location uncertainty


This paper describes a method of incorporating sensor and localisation uncertainty into contextual occupancy maps to provide for robust mapping. This paper builds on a recently proposed application of the Gaussian process (GP) to occupancy mapping. An extension of GPs is employed which incorporates uncertain inputs into the covariance function. In turn… (More)
DOI: 10.1109/ROBOT.2010.5509812


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