Spatial Representation and Reasoning for Robot Mapping
A Shape-Based Approach
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 48)
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 48)
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.