Back to Search
Start Over
Evidential reasoning for building environment maps
- Source :
- IEEE Transactions on Systems, Man, and Cybernetics. Jan, 1995, Vol. v25 Issue n1, p10, 11 p.
- Publication Year :
- 1995
-
Abstract
- We address the problem of building a map of the environment utilizing sensory depth information obtained from multiple viewpoints. The desired representation of the environment is in the form of a finite-resolution three-dimensional grid of voxels. Each voxel within the grid is assigned a binary value corresponding to its occupancy state, We present an approach for multi-sensory depth information assimilation based on the Dempster-Shafer theory for evidential reasoning. This approach provides a mechanism to explicitly model ignorance which is desirable when dealing with an unknown environment. We present results obtained from this approach on a laboratory stereo sequence and contrast these with results obtained from the traditional Bayesian approach.
Details
- ISSN :
- 00189472
- Volume :
- v25
- Issue :
- n1
- Database :
- Gale General OneFile
- Journal :
- IEEE Transactions on Systems, Man, and Cybernetics
- Publication Type :
- Academic Journal
- Accession number :
- edsgcl.16475179