Spatial Representation and Reasoning for Robot Mapping A Shape-Based Approach /

• Main Author: Wolter, Diedrich (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2008.
• Series: Springer Tracts in Advanced Robotics, 48
• Subjects: Engineering.; Artificial intelligence.; System theory.; Control engineering.; Robotics.; Mechatronics.; Automation.; Cognitive psychology.; Robotics and Automation.; Control, Robotics, Mechatronics.; Artificial Intelligence (incl. Robotics).; Systems Theory, Control.; Cognitive Psychology.
• Physical Description: XIX, 188 p. online resource.
• ISBN: 9783540690122
• ISSN: 1610-7438 ;

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.