Spatial Representation and Reasoning for Robot Mapping

A Shape-Based Approach

  • Authors
  • Diedrich Wolter
Book

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 48)

Table of contents

  1. Front Matter
    PDF
  2. Introduction
    Diedrich Wolter
    Pages 1-17
  3. Spatial Representations for Mapping
    Diedrich Wolter
    Pages 19-52
  4. A Functional Analysis of Robot Mapping
    Diedrich Wolter
    Pages 53-86
  5. Homomorphic Matching in Balanced Hypergraphs
    Diedrich Wolter
    Pages 87-100
  6. Shape-Based Incremental Mapping
    Diedrich Wolter
    Pages 101-135
  7. Evaluation
    Diedrich Wolter
    Pages 137-158
  8. Conclusion and Outlook
    Diedrich Wolter
    Pages 159-174
  9. Back Matter
    PDF

About this book

Introduction

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.

Keywords

Localization Mobile Robotics Robot Mapping Robot Navigation SLAM Shap-based Reasoning Spatial Representation mobile robot robot

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-540-69012-2
  • Copyright Information Springer-Verlag Berlin Heidelberg 2008
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering
  • Print ISBN 978-3-540-69011-5
  • Online ISBN 978-3-540-69012-2
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • About this book