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Dense Map Inference with User-Defined Priors: From Priorlets to Scan Eigenvariations

  • Paloma de la Puente
  • Andrea Censi
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7463)

Abstract

When mapping is formulated in a Bayesian framework, the need of specifying a prior for the environment arises naturally. However, so far, the use of a particular structure prior has been coupled to working with a particular representation. We describe a system that supports inference with multiple priors while keeping the same dense representation. The priors are rigorously described by the user in a domain-specific language. Even though we work very close to the measurement space, we are able to represent structure constraints with the same expressivity as methods based on geometric primitives. This approach allows the intrinsic degrees of freedom of the environment’s shape to be recovered. Experiments with simulated and real data sets will be presented.

Keywords

Penalty Function Prior Constraint Inference Engine Unconstrained Optimization Problem Consecutive Point 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Paloma de la Puente
    • 1
  • Andrea Censi
    • 2
  1. 1.Intelligent Control GroupUniversidad Politecnica de MadridMadridSpain
  2. 2.Engineering and Applied ScienceCalifornia Institute of TechnologyPasadenaUSA

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