An incremental mapping method based on a dempster-shafer fusion architecture

被引：0
作者：
Delafosse, Melanie [1 ]
Delahoche, Laurent [1 ]
Clerentin, Arnaud [1 ]
Jolly-Desodt, Anne-Marie [2 ]
机构：
[1] RTeAM IUT Dept Informat, Amiens, France
[2] GEMTEX, Roubaix, France
来源：
ICINCO 2007: PROCEEDINGS OF THE FOURTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-2: ROBOTICS AND AUTOMATION, VOL 2 | 2007年
关键词：
mobile robot localization; 2D-mapping; uncertainty and imprecision modeling;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Firstly this article presents a multi-level architecture permitting the localization of a mobile platform and secondly an incremental construction of the environment's map. The environment will be modeled by an occupancy grid built with information provided by the stereovision system situated on the platform. The reliability of these data is introduced to the grid by the propagation of uncertainties managed thanks to the theory of the Transferable Belief Model.
引用
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页码：438 / +
页数：2
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