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

fYear

2007

fDate

9-12 July 2007

Firstpage

1

Lastpage

7

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICIF.2007.4408029

Filename

4408029