Recognising, Representing and Mapping in Field Robotics : A Statistical View to Perception in Unstructured Environments

ISBN-13: 9783639137590 / Angielski / Miękka / 2009 / 212 str.

Fabio Ramos

Opis

The problem of building statistical models formulti-sensor perception in unstructured outdoor environments isaddressed in this book. The perception problem is divided intothree distinct tasks: recognition, representation and association.Recognition is cast as a statistical classification problem whereinputs are images or a combination of images and ranging information.Given the complexity and variability of natural environments,the use of Bayesian statistics and supervised dimensionalityreduction to incorporate prior information and to fuse sensorydata are investigated. This book presents techniques forcombining non-linear dimensionality reduction with parametriclearning through Expectation Maximisation to build general and compact representations of natural features. The robustnessof localisation and mapping algorithms is directly related toreliable data association. A new data association algorithmincorporating visual and geometric information is proposed to improve thereliability of this task. The method uses a compact probabilisticrepresentation of objects to fuse visual and geometric information forthe association decision.

O autorze

Fabio Tozeto Ramos received the B.Sc. and the M.Sc. degrees in
Mechatronics
Engineering at University of Sao Paulo, Brazil, in 2001 and 2003
respectively, and the
Ph.D. degree at University of Sydney, Australia, in 2007. He
currently holds an ARC
Research Fellowship at the Australian Centre for Field Robotics.