Mapping with Uncertain Up:Active
Estimation From Image
Spatial Abstraction and Mapping
This project involves the development of a formalism and methodology for
making the transition from raw noisy sensor data collected by a roving
robot to a map composed of object models and finally to a simple abstract
map described in terms of discrete places of interest. An important early
stage of such processing is the ability to select, represent and find a
discrete set of places of interest or landmarks that will make up a map.
Associated problems are those of using a map to accurately localize a mobile
robot and generating intelligent exploration plans to verify and elaborate
the map.A compressed postscript copy of a paper of this work can be downloaded
G. Dudek, P. Mackenzie (CRIM).
Mon Jun 26 21:22:20 GMT 2000