Concurrent Cognitive Mapping and Localization Using Expectation Maximization
Kennard R. Laviers
Broschiertes Buch

Concurrent Cognitive Mapping and Localization Using Expectation Maximization

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Robot mapping remains one of the most challenging problems in robot programming. Most successful methods use some form of occupancy grid for representing a mapped region. An occupancy grid is a two dimensional array in which the array cells represent (x, y) coordinates of a cartesian map. This approach becomes problematic in mapping large environments as the map quickly becomes too large for processing and storage. Rather than storing the map as an occupancy grid, our robot (equipped with ultra sonic sonars) views the world as a series of connected spaces. These spaces are initially mapped as ...