Title :
A dempster-shafer fusion architecture for the incremental mapping paradigm
Author :
Delafosse, Melanie ; Delahoche, Laurent ; Clerentin, Arnaud ; Ricquebourg, Vincent ; Jolly-Desodt, Anne-Marie
Author_Institution :
IUT Dpt Inf., Amiens
Abstract :
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.
Keywords :
inference mechanisms; learning (artificial intelligence); mobile robots; path planning; stereo image processing; Dempster-Shafer fusion architecture; incremental mapping paradigm; mobile robot autonomous navigation; multi-level architecture; occupancy grid; stereovision system; transferable belief model; Mobile robots; Navigation; Reliability theory; Research and development; Robot localization; Robot sensing systems; Robustness; Sensor phenomena and characterization; Simultaneous localization and mapping; Uncertainty; 2D-mapping; Mobile robot localization; uncertainty and imprecision modeling;
Conference_Titel :
Information Fusion, 2007 10th International Conference on
Conference_Location :
Quebec, Que.
Print_ISBN :
978-0-662-45804-3
Electronic_ISBN :
978-0-662-45804-3
DOI :
10.1109/ICIF.2007.4408029
