Fox, C.W. and Prescott, T.J. (2011) Mapping with Sparse Local Sensors and Strong Hierarchical Priors. In: Groß, R., Alboul, L., Melhuish, C., Witkowski, M., Prescott, T.J. and Penders, J., (eds.) Towards Autonomous Robotic Systems. TAROS 2011, August 31 - September 2, 2011, Sheffield, UK. Lecture Notes in Computer Science, 6856 . Springer, Berlin, Heidelberg , pp. 183-194. ISBN 978-3-642-23231-2
Abstract
The paradigm case for robotic mapping assumes large quantities of sensory information which allow the use of relatively weak priors. In contrast, the present study considers the mapping problem in environments where only sparse, local sensory information is available. To compensate for these weak likelihoods, we make use of strong hierarchical object priors. Hierarchical models were popular in classical blackboard systems but are here applied in a Bayesian setting and novelly deployed as a mapping algorithm. We give proof of concept results, intended to demonstrate the algorithm’s applicability as a part of a tactile SLAM module for the whiskered SCRATCHbot mobile robot platform.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Editors: |
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Copyright, Publisher and Additional Information: | © 2011 Springer. This is an author produced version of a paper subsequently published in Lecture Notes in Computer Science. Uploaded in accordance with the publisher's self-archiving policy. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Science (Sheffield) > Department of Psychology (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 21 Feb 2017 13:50 |
Last Modified: | 11 Apr 2017 06:10 |
Published Version: | http://dx.doi.org/10.1007/978-3-642-23232-9_17 |
Status: | Published |
Publisher: | Springer, Berlin, Heidelberg |
Series Name: | Lecture Notes in Computer Science |
Refereed: | Yes |
Identification Number: | 10.1007/978-3-642-23232-9_17 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:108429 |