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Evidential reasoning for building environment maps

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3 Author(s)
Tirumalai, A.P. ; Siemens Med. Syst.-Ultrasound Group, Issaquah, WA, USA ; Schunck, B.G. ; Jain, R.C.

We address the problem of building a map of the environment utilizing sensory depth information obtained from multiple viewpoints. The desired representation of the environment is in the form of a finite-resolution three-dimensional grid of voxels. Each voxel within the grid is assigned a binary value corresponding to its occupancy state. We present an approach for multi-sensory depth information assimilation based on the Dempster-Shafer theory for evidential reasoning. This approach provides a mechanism to explicitly model ignorance which is desirable when dealing with an unknown environment. We present results obtained from this approach on a laboratory stereo sequence and contrast these with results obtained from the traditional Bayesian approach

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Systems, Man and Cybernetics, IEEE Transactions on  (Volume:25 ,  Issue: 1 )