Representing partial and uncertain sensorial information using the theory of symmetries

J.D. Tardos
Proceedings 1992 IEEE International Conference on Robotics and Automation  
In this paper, we propose a general model for representing sensorial information and its uncertainty, the Symmetries and Perturbation model (SPmodel). In it, the intrinsic partiality of geometric information is represented in terms of the symmetries of the involved geometric elements. Location uncertainty due to sensor imprecision is represented by means of a local perturbation, expressed in a reference frame attached to the geometric element, with an associated probabilistic model. Using the
more » ... model. Using the SPmodel, we develop a method for integrating geometric information that allows to estimate the location of a feature or an object from a set of partial and uncertain observations. The integration mechanism is based on extended Kalman filter theory. * This work was partially supported by CONAI-DGA, project IT-5/90 and CICYT, project ROB91-0949
doi:10.1109/robot.1992.220119 dblp:conf/icra/Tardos92 fatcat:px6df526vvff5may4nhnqlkxuq