Thesis
Long term appearance-based mapping with vision and laser
- Abstract:
-
This thesis is about appearance-based topological mapping for mobile robots using vision and laser. Our goal is life-long continual operation in outdoor unstruc- tured workspaces.
We present a new probabilistic framework for appearance-based mapping and navigation incorporating spatial and visual appearance. Locations are encoded prob- abilistically as random graphs possessing latent distributions over visual features and pair-wise euclidean distances generating observations modeled ...
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Bibliographic Details
- Publication date:
- 2012
- Type of award:
- DPhil
- Level of award:
- Doctoral
- Awarding institution:
- University of Oxford
Item Description
- Language:
- English
- Keywords:
- Subjects:
- UUID:
-
uuid:8d59bf8c-bec8-4782-b100-aa80d1136802
- Local pid:
- ora:7220
- Deposit date:
- 2013-08-23
Terms of use
- Copyright holder:
- Paul, R
- Copyright date:
- 2013
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