一种基于dempster-shafer融合结构的增量映射方法

ICINCO-RA Pub Date : 1900-01-01 DOI:10.5220/0001632504380445

M. Delafosse, L. Delahoche, A. Clerentin, A. Jolly-Desodt

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摘要

首先，本文提出了一个允许移动平台本地化的多层次架构，其次是环境地图的增量构建。环境将由平台上的立体视觉系统提供的信息构建的占用网格来建模。这些数据的可靠性是通过不确定性的传播引入网格的，这得益于可转移信念模型的理论。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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An incremental mapping method based on a dempster-shafer fusion architecture

Firstly this article presents a multi-level architecture permitting the localization of a mobile platform and secondly an incremental construction of the environment’s map. The environment will be modeled by an occupancy grid built with information provided by the stereovision system situated on the platform. The reliability of these data is introduced to the grid by the propagation of uncertainties managed thanks to the theory of the Transferable Belief Model.

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