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

Ramos, Fabio

Softcover

ISBN 10: 3639137590 ISBN 13: 9783639137590

Publisher: VDM Verlag, 2009

Synopsis

The problem of building statistical models for multi-sensor perception in unstructured outdoor environments is addressed in this book. The perception problem is divided into three distinct tasks: recognition, representation and association. Recognition is cast as a statistical classification problem where inputs 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 dimensionality reduction to incorporate prior information and to fuse sensory data are investigated. This book presents techniques for combining non- linear dimensionality reduction with parametric learning through Expectation Maximisation to build general and compact representations of natural features. The robustness of localisation and mapping algorithms is directly related to reliable data association. A new data association algorithm incorporating visual and geometric information is proposed to improve the reliability of this task. The method uses a compact probabilistic representation of objects to fuse visual and geometric information for the association decision.

About this title

About the Author

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.

Edition details

• Publisher: VDM Verlag
• Publication date: 2009
• Language: English
• ISBN 10: 3639137590
• ISBN 13: 9783639137590
• Binding: Paperback
• Number of pages: 212