Ponencias en congresos:
Dense Map Inference with User-Defined Priors: From Priorlets to Scan Eigenvariations
Año:2012
Áreas de investigación
- Ingeniería eléctrica, electrónica y automática
Datos
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Descripción
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| When mapping is formulated in a Bayesian framework, the need of specifying a prior for the environment arises naturally. However, so far, the use of a particular structure prior has been coupled to work- ing with a particular representation. We describe a system that supports inference with multiple priors while keeping the same dense representa- tion. The priors are rigorously described by the user in a domain-specific language. Even though we work very close to the measurement space, we are able to represent structure constraints with the same expressivity as methods based on geometric primitives. This approach allows the in- trinsic degrees of freedom of the environment?s shape to be recovered. Experiments with simulated and real data sets will be presented. | |
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Internacional
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Si |
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Nombre congreso
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Spatial Cognition VIII |
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Tipo de participación
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960 |
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Lugar del congreso
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Kloster Seeon, Bavaria, Germany |
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Revisores
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Si |
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ISBN o ISSN
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978-3-642-32731-5 |
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DOI
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Fecha inicio congreso
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01/09/2012 |
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Fecha fin congreso
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03/09/2012 |
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Desde la página
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94 |
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Hasta la página
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113 |
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Título de las actas
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Spatial Cognition VIII. LNCS, vol. 7463. Springer-Verlag (2012) |
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Esta actividad pertenece a memorias de investigación
Participantes
- Autor: Paloma de la Puente Yusty UPM
- Autor: Andrea Censi California Institute of Technology
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
- Creador: Grupo de Investigación: Control Inteligente
- Departamento: Automática, Ingeniería Electrónica e Informática Industrial