Diedrich Wolter (auth.)9783540690115, 3540690115
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.
Table of contents :
Front Matter….Pages –
Introduction….Pages 1-17
Spatial Representations for Mapping….Pages 19-52
A Functional Analysis of Robot Mapping….Pages 53-86
Homomorphic Matching in Balanced Hypergraphs….Pages 87-100
Shape-Based Incremental Mapping….Pages 101-135
Evaluation….Pages 137-158
Conclusion and Outlook….Pages 159-174
Back Matter….Pages –
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