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Adaptive data compression for robot perception

Abstract:

This paper concerns the creation of an efficient, continuous, non-parametric representation of surfaces implicit in 3D laser data as typically recorded by mobile robots. Our approach explicitly leverages the probabilistic nature of Gaussian Process regression to provide for a principled, adaptive subsampling which automatically prunes redundant data. The algorithm places no restriction on the complexity of the underlying surfaces and enables predictions at arbitrary locations and densities. W...

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Journal:
IJCAI International Joint Conference on Artificial Intelligence
Pages:
2746-2751
Publication date:
2011
DOI:
ISSN:
1045-0823
URN:
uuid:bd3200be-cf4e-4680-a619-67a46712c60b
Source identifiers:
418029
Local pid:
pubs:418029
Language:
English

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