Spatial representation and reasoning for robot mapping: a shape-based approach
Wolter, D.
This book addresses spatial representations and reasoning techniques for mobile robot mapping, providing an analysis of fundamental representations and processes involved. A spatial representation based on shape information is proposed and shape analysis techniques are developed to tackle the correspondence problem in robot mapping. A general mathematical formulation is presented to provide the formal ground for an efficient matching of configurations of objects.Investigates the SLAM problem from a more quantitative point of view, Provides a comprehensive understanding of the SLAM field. Includes an extensive literature discussion. Solves data association problems using shape features extracted from the raw data INDICE: Introduction.- Spatial representations for mapping.- A functional analysis of robot mapping.- Homomorphic matching in balanced hypergraphs.- Shape-based incremental mapping.- Evaluation.- Conclusion and Outlook.
- ISBN: 978-3-540-69011-5
- Editorial: Springer
- Encuadernacion: Cartoné
- Páginas: 186
- Fecha Publicación: 01/07/2008
- Nº Volúmenes: 1
- Idioma: Inglés