Spatial Representation and Reasoning for Robot Mapping A Shape-Based Approach
Title:
Spatial Representation and Reasoning for Robot Mapping A Shape-Based Approach
Author:
Wolter, Diedrich. author.
ISBN:
9783540690122
Personal Author:
Physical Description:
XIX, 188 p. online resource.
Series:
Springer Tracts in Advanced Robotics, 48
Contents:
Spatial Representations for Mapping -- A Functional Analysis of Robot Mapping -- Homomorphic Matching in Balanced Hypergraphs -- Shape-Based Incremental Mapping -- Evaluation -- Conclusion and Outlook.
Abstract:
This book addresses spatial representations and reasoning techniques for mobile robot mapping, providing an analysis of fundamental representations and processes involved. A spatial representation based on shape information is proposed and shape analysis techniques are developed to tackle the correspondence problem in robot mapping. A general mathematical formulation is presented to provide the formal ground for an efficient matching of configurations of objects.
Added Corporate Author:
Electronic Access:
http://dx.doi.org/10.1007/978-3-540-69012-2