Exploration on continuous Gaussian process frontier maps
Cita com:
hdl:2117/28286
Tipus de documentText en actes de congrés
Data publicació2014
EditorInstitute of Electrical and Electronics Engineers (IEEE)
Condicions d'accésAccés obert
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
An information-driven autonomous robotic explo- ration method on a continuous representation of unknown envi- ronments is proposed in this paper. The approach conveniently handles sparse sensor measurements to build a continuous model of the environment that exploits structural dependencies without the need to resort to a fixed resolution grid map. A gradient field of occupancy probability distribution is regressed from sensor data as a Gaussian process providing frontier boundaries for further exploration. The resulting continuous global frontier surface completely describes unexplored regions and, inherently, provides an automatic stop criterion for a desired sensitivity. The performance of the proposed approach is evaluated through simulation results in the well-known Freiburg and Cave maps.
CitacióJadidi, M. [et al.]. Exploration on continuous Gaussian process frontier maps. A: IEEE International Conference on Robotics and Automation. "2014 IEEE International Conference on Robotics and Automation (ICRA)". Hong Kong: Institute of Electrical and Electronics Engineers (IEEE), 2014, p. 6077-6082.
Versió de l'editorhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907754
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1497-Exploratio ... -process-frontier-maps.pdf | 5,906Mb | Visualitza/Obre |