3D robot mapping: combining active and non active sensors in a probabilistic framework
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Título: | 3D robot mapping: combining active and non active sensors in a probabilistic framework |
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Autor/es: | Aznar Gregori, Fidel | Sempere-Tortosa, Mireia | Pujol, Mar | Rizo, Ramón | Molina-Carmona, Rafael |
Grupo/s de investigación o GITE: | Informática Industrial e Inteligencia Artificial |
Centro, Departamento o Servicio: | Universidad de Alicante. Departamento de Ciencia de la Computación e Inteligencia Artificial |
Palabras clave: | Bayesian units | Laser/Omnivision fusion | 3D mapping |
Área/s de conocimiento: | Ciencia de la Computación e Inteligencia Artificial |
Fecha de creación: | 2005 |
Fecha de publicación: | 2006 |
Editor: | Springer |
Cita bibliográfica: | AZNAR GREGORI, Fidel, et al. “3D robot mapping: combining active and non active sensors in a probabilistic framework”. Lecture notes in computer science. 2006, vol. 4177/2006. ISSN 0302-9743, pp. 11-20 |
Resumen: | Map reconstruction and robot location are two essential problems in the field of robotics and artificial intelligence. A robot could need a model of the environment that can be incomplete and therefore the robot must work considering the uncertainty. Bayesian Units consider the uncertainty and allow the fusion of information from different sensors. In this paper a map reconstruction system in 3D based on Bayesian Units is presented. The reconstruction is carried out integrating the data obtained by a laser and by an omnivision system. In addition, to improve the quality of the reconstruction, the fusion of several Bayesian Units is defined using a competitive fusion operator. Finally, the obtained results as well as the validity of the system are shown. |
Patrocinador/es: | This work has been financed by the Generalitat Valenciana project GV04B685. |
URI: | http://hdl.handle.net/10045/1601 |
ISBN: | 978-3-540-45914-9 |
ISSN: | 0302-9743 |
DOI: | 10.1007/11881216_2 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/article |
Derechos: | The original publication is available at www.springerlink.com |
Revisión científica: | si |
Versión del editor: | http://dx.doi.org/10.1007/11881216_2 |
Aparece en las colecciones: | INV - i3a - Artículos de Revistas INV - Smart Learning - Artículos de Revistas |
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